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

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Journal of Vibration and Shock ›› 2024, Vol. 43 ›› Issue (11) : 217-226.

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

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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.

Key words

EPS / Vehicle handling dynamics / Dynamical model / Control strategy

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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

References

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