Steering-by-wire feeling device based on parameter estimation and control method thereof

Abstract

The invention discloses a steering-by-wire feeling device based on parameter estimation and a control method thereof. The steering-by-wire feeling device comprises a steering wheel as well as a steering angle sensor, a torque sensor, a steering column, a steering feeling motor, a steering feeling controller and so on, wherein the steering angle sensor, the torque sensor, the steering column, the steering feeling motor and the steering feeling controller are connected with the steering wheel; the steering-by-wire feeling device further comprises a set of clutch; the controller is used for detecting an error of a current state; the clutch is controlled to switch to a spare motor steering mode. A planning method comprises the steps of measuring a signal through the sensor, estimating through Kalman filtering so as to obtain a current automobile state variable, figuring out automobile steering resistance moment, and compensating and revising steering feeling through an automobile speed, a variable transmission ratio and a lateral acceleration so as to obtain a current desired steering wheel moment value. According to the steering-by-wire feeling device based on the parameter estimation and the control method thereof, disclosed by the invention, the working mode can be switched through the additionally arranged clutch to assure that a normal steering function can be still guaranteed to provide reliable steering feeling when a steering-by-wire mode has a fault; meanwhile, a driver can obtain good road surface information during normal driving so that the maneuverability and the comfort of the automobile are improved.

Description

technical field [0001] The invention relates to the field of steering-by-wire steering of automobiles, in particular to a steering-by-wire road sensing device based on parameter estimation and a control method thereof. Background technique [0002] Steer-by-wire (SBW for short) represents the development direction of power steering technology in the future. This system cancels the mechanical connection between the steering wheel and the steering wheel, and transmits the signal to the electronic control unit (Electronic Control Unit, ECU) through the wire, and then the ECU sends an instruction to control the steering executive assembly to complete the driver's manipulation instruction, realizing the driver's control. driving intentions. The SBW system cancels the mechanical connection between the steering wheel and the steering wheels, and the motor drives the steering system to control the steering movement of the car. At the same time, the steering wheel resistance torque ...

AI Technical Summary

Problems solved by technology

[0004] The road feel problem of the steer-by-wire system is one of its key technologies. A large number of research results conducted by many domestic and foreign automobile companies and scientific research universities basically satisfy the driver's grasp of the steering system to a certain extent, but each has its own advantages and disadvantages. , it not only requires a very accurate steering system model and a powerful controller, but also the research of some methods is expensive and requires high sensor accuracy and price, which affects the development cycle and cost to some extent. It is also one of the key issues affecting the development and application of steer-by-wire systems

In addition, there should be a comprehensive study on the various working conditions and driving conditions of the steering-by-wire system, such as a comprehensive analysis and research on the middle position of the steering wheel, rudder protection, and correcting of the steering-by-wire system. There is less specialized research, and we still need to make continuous improvements to adapt to the road feeling requirements of traditional steering systems as soon as possible

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