Fuzzy PID Based Controller of Road Feeling for Steer-by-wire System
-
摘要: 线控转向系统由于取消了方向盘与转向轮之间的机械连接,所以路感必须模拟产生。本文中建立了方向盘模块和机械式转向系统回正力矩的动力学模型,针对传统转向系统转向器传动比固定的缺陷,设计了基于变传动比的路感控制策略。低速时采用小传动比,实现转向灵敏,高速时采用大传动比,实现转向稳定。并且根据驾驶员对理想路感的需求,进行路感修正,推导出具体的路感修正公式。仿真结果表明:该路感控制策略能发挥线控转向系统的优势,充分满足汽车行驶时的低速转向灵敏和高速转向稳定。在此基础上,通过模糊PID控制器对路感模拟电机进行了实时控制。Abstract: For the steer-by-wire system, the road feeling should be produced by simulation because there is no mechanical connection between the steering wheel and the front wheels. The dynamics model of steering wheel module and the aligning torque model of the mechanical steering system were established. According to the disadvantages of the fixed ratio in traditional steering system, a control strategy of road feeling based on variable transmission ratio was proposed. Small transmission ratio was used at the low speed in order to realize sensitive steering. Big transmission ratio was used at the high speed in order to realize stable steering. At the same time, modification of the road feeling was carried out according to the ideal road feeling expected by the driver, and the modification formula of the road feeling was derived finally. The simulation results showed that the road feeling control strategy could make good use of steer-by-wire system and satisfy the steering sensitivity at low speed and the steering stability at high speed. Fuzzy Proportion Integration Differentiation （PID） controller was designed to real-timely control the road feeling simulating motor.
-
[1] 陈慧鹏,陈立平,王君明.电动助力转向系统性能优化及参数研究[J].机械科学与技术,2010,29(2):146～152 [2] Hsu Yung-Hsiang,Gerdes Christian J.Stabilization of a steer-by-wire vehicle at the limits of handling using feedback linearization[A].International Mechanical Engineering Congress andExposition[C],2005,(11):5～11 [3] Suzumura M,Kojo T,Tsuchiya Y,et al.Development of the ac-tive front steering control system[A].Proceeding of AVEC'04[C],2004 [4] 田杰,高翔,陈宁.基于分数阶微积分的线控转向系统的控制研究[J].机械科学与技术,2010,29(9):1172～1176 [5] Jang S H,Park T J,Han C S.A control of vehicle using steer-by-wire system with hardware-in-the-loop-simulation system[A].Proceedings of the 2003 IEEE/ASME International Confer-ence on Advanced Intelligent Mechatronics[C],2003:389～394 [6] 田承伟.线控转向硬件在环试验台开发及控制算法研究[D].长春:吉林大学,2007 [7] Brocker M.New control algorithms for steering feel improvementof an electric powered steering system with belt drive[J].Vehi-cle System Dynamics,2006,(44):759～769 [8] 罗石,商高高,苏清祖等.线控转向系统方向盘力回馈模型的研究[J].汽车工程,2006,28(10):914～917 [9] 罗士军,胡静波,王同建,张子达.装载机线控转向路感控制策略[J].农业机械学报,2007,38(7):43～45 [10] 郭孔辉.汽车操纵动力学[M].吉林:吉林科学技术出版社,1991 [11] 刘照.汽车电动助力转向系统动力学分析与控制方法研究[D].华中科技大学,2004 -
点击查看大图
计量
- 文章访问数: 196
- HTML全文浏览量: 23
- PDF下载量: 7
- 被引次数: 0
下载:
