基于龙贝格算法的齿条力预估模型搭建与验证  

Modul Creation and Verification of Steering Rack Force Prediction Based on Lomborg Algorithm

作　　者：谭金龙 王阳阳[1] 陈骏雄 Tan Jin-long;Wang Yang-yang;Chen Jun-xiong(Tongji University,Shanghai 201804,China)

机构地区：[1]同济大学,上海201804

出　　处：《内燃机与配件》2025年第4期1-6,共6页Internal Combustion Engine & Parts

摘　　要：线控转向技术对无人驾驶汽车的研究和应用具有重要意义,而线控转向的控制与路感反馈依赖于准确、及时的齿条力信息。当下,齿条力预估模型难以在准确性和计算复杂度之间达到理想的平衡。本文通过合并子系统质量模型的方式,将多模块化的线控转向动力学模型简化为单质量模型。然后,利用龙贝格观测器算法建立齿条力预估模型,并调试出合适的系统增益矩阵。最后,通过仿真、台架和实车试验验证了该模型的系统特性和实车表现。Steer-by-wire technology have great significance for the research and application of driverless cars,while the control and road-sense feedback of steer-by-wire relies on accurate and timely rack force information.At present,rack force prediction models are difficult to achieve an ideal balance between accuracy and computational complexity.In this paper,the multi-modular wire-controlled steering dynamics model is simplified to a single mass model by merging the subsystem mass models.Then,the Longaberger observer algorithm is utilized to establish the rack force prediction model and debug the appropriate system gain matrix.Finally,the system characteristics and real-vehicle performance of the model are verified by simulation validation,bench and real-vehicle tests.

关 键 词：线控转向 转向齿条力 路感反馈 龙贝格算法 

分 类 号：U461.91[机械工程—车辆工程]