基于转速参考模型的线控转向主动回正控制  

Active Return-to-Center Control for Steer-by-Wire Systems Based on a Steering Wheel Angular Speed Reference Model

作　　者：刘书翰 吴晓东[1,2] 梁登宇 高森祺 黄刚 LIU Shuhan;WU Xiaodong;LIANG Dengyu;GAO Senqi;HUANG Gang(Institute of Intelligent Vehicle,Shanghai Jiaotong University,Shanghai 200240,China;Chongqing Research Institute,Shanghai Jiaotong University,Chongqing 401135,China;Bosch HUAYU Steering Systems Co.,Ltd.,Shanghai 201821,China)

机构地区：[1]上海交通大学智能汽车研究所,上海200240 [2]上海交通大学重庆研究院,重庆401135 [3]博世华域转向系统有限公司,上海201821

出　　处：《汽车工程学报》2025年第1期108-115,共8页Chinese Journal of Automotive Engineering

基　　金：国家自然科学基金面上项目(NSFC:52472413);重庆市自然科学基金面上项目(CSTB2024NSCQ-MSX0711)。

摘　　要：为解决传统主动回正控制中各车速下合适的回正转速难以确定的问题,提出了一种基于回正转速参考模型和滑模控制的线控转向系统主动回正控制方法。设计了基于时间窗的主动回正状态判断机制,根据轮胎回正力矩建立了回正转速参考模型,并基于此模型设计了主动回正滑模控制策略。硬件在环仿真试验结果表明,提出的主动回正状态判断机制能准确切换系统状态,回正转速参考模型真实性高,且滑模控制策略能有效保障转向盘对参考回正转速的跟踪效果。To address the difficulty in determining the optimal return angular speed at various vehicle speeds in traditional active Return-to-Center(RTC)control,a new active RTC control method for steer-by-wire systems is proposed,combining a return speed reference model and sliding mode control.A time-windowbased mechanism for determining the active return-to-center state is designed.The return speed reference model is established based on the tire aligning torque,and an active RTC sliding mode control strategy is developed accordingly.Hardware-in-the-loop simulation results indicate that the proposed active return state determination mechanism can accurately switch system states,the return speed reference model exhibits high accuracy,and the sliding mode control strategy effectively ensures that the steering wheel reliably follows the reference return speed.

关 键 词：线控转向 主动回正控制 滑模控制 主动回正状态判断机制 

分 类 号：U463.4[机械工程—车辆工程]