商用车电控转向系统的发展现状与趋势  

Development Status and Trends of Electronic Control Steering Systems for Commercial Vehicles

作　　者：董梒 季学武[2] 陶书鑫 蒋体通 何祥坤 王恒 刘亚辉[2] Dong Han;Ji Xuewu;Tao Shuxin;Jiang Titong;He Xiangkun;Wang Heng;Liu Yahui(School of Automation,University of Science and Technology Beijing,Beijing 100083;School of Vehicle and Mobility,Tsinghua University,Beijing 100084;School of Mechanical and Aerospace Engineering,Nanyang Technological University,Singapore 639798)

机构地区：[1]北京科技大学自动化学院,北京100083 [2]清华大学车辆与运载学院,北京100084 [3]南洋理工大学机械与航空航天工程学院,新加坡639798

出　　处：《汽车工程》2024年第5期816-829,共14页Automotive Engineering

摘　　要：商用车转向系统的电控化是实现商用车节能化和智能化的必由之路,为此商用车转向系统从传统的液压助力转向系统发展到以电液耦合助力转向系统为代表的电控转向系统。本文将对商用车电控转向技术进行综述,从电控转向系统的典型构型、智能转向控制和功能安全设计3个方面对商用车电控转向技术的研究进行梳理,总结电控转向技术的重点研究领域和未来发展方向。梳理总结发现:(1)在系统构型方面,商用车电控转向系统以电液耦合转向助力技术为主,着重于实现商用车智能转向功能,同时兼顾节能化需求;商用车电动助力转向系统是未来理想的电控转向技术方案。(2)在智能控制方面,为了适应商用车智能化的发展,转向执行控制着重于解决液压系统所造成的非线性与时滞性问题以及轨迹跟随过程中的横向动力学控制难题;辅助驾驶功能着重于克服液压系统的非线性导致的转向力矩不连续以及人机控制权的分配;自动驾驶功能着重于提升安全性与燃油经济性。(3)在系统功能安全设计方面,商用车电控转向系统着重于设计符合功能安全标准的故障诊断与容错控制策略。The electrification of commercial vehicle steering systems is a necessary path to achieve energy efficiency and intelligence of commercial vehicles.As a result,commercial vehicle steering systems have evolved from traditional hydraulic power steering systems to electrically controlled steering systems,represented by electro-hydraulic coupling power steering systems.This article provides an overview of electrically controlled steering tech-nology of commercial vehicles,summarizing the research on electrically controlled steering technology in terms of typical system configurations,intelligent steering control,and functional safety design to conclude the key research areas and future development trend.The following key findings are summarized:(1)In terms of system configura-tions,commercial vehicle electrically controlled steering systems primarily focus on electro-hydraulic coupling pow-er steering technology,emphasizing the realization of intelligent steering functions while considering energy efficien-cy requirements.Electric power steering systems for commercial vehicles are ideal future solutions for electrically controlled steering technology.(2)In terms of intelligent control,to adapt to the development of intelligent commer-cial vehicles,steering execution control focuses on addressing nonlinearity and timeliness issues caused by hydrau-lic systems,as well as the challenging lateral dynamics control during trajectory tracking.Assistance driving func-tions focus on overcoming discontinuities in steering torque caused by the nonlinearity of hydraulic systems and the allocation of human-machine control authority.Autonomous driving functions focus on enhancing safety and fuel economy.(3)In terms of functional safety design,commercial vehicle electrically controlled steering systems focus on the design of fault diagnosis and fault-tolerant control strategies that comply with functional safety standards.

关 键 词：商用车电控转向系统 智能转向控制 功能安全 容错控制策略 

分 类 号：U463.4[机械工程—车辆工程]