基于扭矩闭环的人-车协同转向舒适性控制策略研究

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振动与冲击 ›› 2024, Vol. 43 ›› Issue (11) : 217-226.

论文

韦宝侣 1,2,卜腾辰 1,何智成 1,王煜凡 1,彭晓燕 1

作者信息 +

Comfort control strategy for human-vehicle cooperative steering based on torque closed-loop

WEI Baolü1,2, BU Tengchen1, HE Zhicheng1, WANG Yufan1, PENG Xiaoyan1

Author information +

文章历史 +

摘要

为了解决传统电动助力转向系统在变路面附着系数以及载荷变化工况下方向盘力矩的变化影响驾驶员舒适性的问题，本文提出了一种基于修正线性三自由度动力学模型的扭矩闭环人-车协同转向舒适性控制策略。首先，通过驾驶员风格辨识建立横摆角速度与车速、方向盘力矩的非线性关系；其次，根据此非线性关系与操纵动力学稳态特性得到驾驶员期望回正力矩，再通过考虑车厢侧倾以及悬架导向装置变形的修正线性三自由度模型和轮胎模型对回正力矩进行精确计算，进而构建扭矩闭环控制器；然后，经扭矩闭环控制器计算得到的补偿助力力矩与基本助力力矩进行叠加获得最终的控制力矩。最后，通过Matlab/Simulink软件建立扭矩闭环系统仿真模型，验证了修正动力学模型的准确性，同时也验证了所提出的控制策略能有效减小方向盘力矩的波动，提升了驾驶员的舒适性。

Abstract

In order to solve the problem that the steering wheel torque of the traditional electric power steering system affects the driver's comfort under the conditions of variable road adhesion coefficient and load change, a torque closed-loop human-vehicle coordination model is proposed based on the modified linear three-degree-of-freedom dynamics model. Turn to comfort control strategy. Firstly, the nonlinear relationship between yaw rate, vehicle speed and steering wheel torque is established through driver style identification; secondly, the driver's expected righting moment is obtained according to the nonlinear relationship and the steady-state characteristics of steering dynamics, and it combines with the righting moment accurately calculated by the modified linear three-degree-of-freedom model considering the roll of the carriage and the deformation of the suspension guide device and tire model to form a torque closed-loop controller; then, the compensation assist torque calculated by the torque closed-loop controller and the basic assist torque are superimposed to obtain the final control torque. Finally, the simulation model of the torque closed-loop system is established by Matlab/Simulink, which verifies the accuracy of the modified dynamic model, and also verifies that the proposed control strategy can effectively reduce the fluctuation of the steering wheel torque and improve the comfort of the driver.

导出引用

韦宝侣 1,2,卜腾辰 1,何智成 1,王煜凡 1,彭晓燕 1. 基于扭矩闭环的人-车协同转向舒适性控制策略研究[J]. 振动与冲击, 2024, 43(11): 217-226

WEI Baolü1,2, BU Tengchen1, HE Zhicheng1, WANG Yufan1, PENG Xiaoyan1. Comfort control strategy for human-vehicle cooperative steering based on torque closed-loop[J]. Journal of Vibration and Shock, 2024, 43(11): 217-226

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