基于滤波估计的线控转向路感规划  

Road Feel Design for Steer-by-Wire Based on Filter Estimation

作　　者：谷霄月 赵万忠[1,2] 王春燕[1] 周栋[1] 

机构地区：[1]南京航空航天大学能源与动力学院,南京210016 [2]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《南京航空航天大学学报》2015年第3期372-376,共5页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：国家自然科学基金(51375007)资助项目;江苏省研究生培养创新工程(SJLX-0144)资助项目;研究生创新基地开放基金(kfjj201463)资助项目;机械系统与振动国家重点实验室课题(MSV201507)资助项目

摘　　要：线控转向系统取消了转向盘与转向轮之间的机械连接,路面状况无法通过转向盘传递给驾驶员,路感需要模拟产生。为此对驾驶员理想转向盘力矩影响因素进行分析,基于汽车动力学模型,采用卡尔曼滤波方法对回正力矩进行估计,计算转向阻力矩,研究转向路感与车速、变传动比及侧向加速度的一般规律,提出基于滤波估计路感规划策略。仿真结果表明:路感模拟方法可以使得驾驶员获得良好的路面信息,提高汽车的操纵性和舒适性。Automobile steer-by-wire（SBW）system disconnects the mechanical link between the steering wheel and steerable wheels.It can′t transmit the road condition to the driver through steering wheel.So the road feel should be produced by simulation.The ideal steering wheel effort characteristics of driver are analyzed.The steering resistance moment is computed by the dynamic model of steering system.The self aligning torque is estimated by Kalman filter.According to the relationships between the road feel and velocity,the variable transmission ratio and the lateral acceleration,a strategy of road feel based on filter estimation is proposed.The simulation results show that the strategy can get good sense of the road condition and enhance riding smoothness and handing stability of vehicles.

关 键 词：线控转向 路感 卡尔曼滤波 变传动比 侧向加速度 

分 类 号：U461.6[机械工程—车辆工程]