力控和位置反馈型线控转向系统双向控制策略

针对线控转向系统中角传动比和力传动比控制存在耦合的问题,在研究线控转向系统结构和动力学特点的基础上,综合传统遥操作机器人双向控制策略的优点,并分析其对于线控转向系统控制的适用性,提出了力控和位置差反馈型线控转向系统双向控制策略,设计了路感电动机和转向执行电动机闭环控制方法。通过实车试验验证了所设计的双向控制策略有效性。结果表明,提出的控制策略可以满足转向系统控制精度,从而保证整车的转向性能。

Bilateral Control Strategy of Steer-by-wire System Using Force Control and Position Deviation Feedback

Since the unnatural road feel reactive torque was created by the variable steering ratio of vehicle steer-by-wire (SBW) system, a dynamic model was established to analyze the structure and dynamic characteristic of SBW system. In order to eliminate the coupling of steering angle and road feel torque, a bilateral control method called steering torque deviation and angle feedback was proposed, which referred to tele-presence technology of teleoperation robot by bilateral control method. The closed loop control strategies were described to guarantee the rapid performance and stability of SBW system by road motor and steering actuator motor. The effectiveness was experimentally verified using an experimental car. The results showed that the control strategies enhanceed the tracking accuracy of steering angle and improveed the vehicle handling.