线控转向系统的路感设计研究  

Road Feeling Design for Steer-by-Wire System

作　　者：何肖军 杨坤[1] 马超[1] 王杰[1] 邵庚龙 成兆君 HE Xiao-jun;YANG Kun;MA Chao;WANG Jie;SHAO Geng-long;CHENG Zhao-jun(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo 255000,China;Shandong Institute of Metrology,Jinan 250100,China)

机构地区：[1]山东理工大学交通与车辆工程学院,淄博255000 [2]山东省计量科学研究院,济南250100

出　　处：《科学技术与工程》2025年第2期806-815,共10页Science Technology and Engineering

基　　金：国家自然科学基金(51605265);山东省重点研发项目(2018GGX105010)。

摘　　要：路感模拟是线控转向系统开发的关键技术之一,为了提高路感模拟的质量,基于传统转向系统转向阻力矩的产生原理和动力学模型计算方法,设计了线控转向系统的路感力矩;为了降低不确定性系统参数和传感器噪声引起的路感电机扭矩脉动,设计了基于自抗干扰算法的路感电机矢量控制策略,并使用粒子群算法对自抗干扰算法中的控制参数进行优化;基于转向盘中间位置操纵稳定性试验和转向轻便性试验,对路感模拟效果进行了验证。结果表明,基于粒子群优化的自抗干扰路感模拟控制算法具有较强的适应性,能有效实现对路感的精确模拟,并可有效减轻驾驶员负担,相关研究可为线控转向系统的设计提供参考。Road feeling simulation is one of the key technologies for the development of the steer-by-wire system.In order to improve the quality of the road feeling simulation,the road feeling torque of the steer-by-wire system was designed based on the principle of steering resisting torque generation of the traditional steering system and the method of calculating the dynamics model.In order to reduce the torque pulsation of the road feeling motor caused by uncertain system parameters and sensor noise,a vector control strategy for the road feeling motor based on the active disturbance rejection control algorithm was designed,and the control parameters in the active disturbance rejection control algorithm were optimized using the particle swarm optimization algorithm.Based on the steering wheel middle position maneuvering stability test and the steering-effort test,the road feeling simulation effect was verified.The results show that the active disturbance rejection control based on particle swarm optimization algorithm has strong adaptability,and can effectively realize the accurate simulation of road feeling.It can effectively reduce the burden on the driver.The relevant research can provide a reference for the design of the steer-by-wire.

关 键 词：线控转向系统 路感模拟 自抗干扰控制 粒子群算法 

分 类 号：U463.4[机械工程—车辆工程]