Electric wheel automobile steering road feeling and whole automobile stability control method

A technology for stability control of electric-wheeled vehicles, applied in the field of steering systems, which can solve the problem of steering feel and stability of electric-wheeled vehicles. Speed and other issues

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A technology for stability control of electric-wheeled vehicles, applied in the field of steering systems, which can solve the problem of steering feel and stability of electric-wheeled vehicles. Speed and other issues

CN107839749AActive Publication Date: 2018-03-27NANJING UNIV OF AERONAUTICS & ASTRONAUTICS

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[0077] The present invention will be further described below in conjunction with accompanying drawing.

[0078] The invention provides a method for controlling steering road feel and vehicle stability of an electric wheel vehicle, such as Figure 7 shown, including the following steps:

[0079] 1) Establish steering and vehicle system dynamics models, including steering system dynamics models, vehicle models, and reference models.

[0080] Among them, the steering system dynamics model includes the steering wheel and input shaft model, the torque sensor model, the steering output shaft model, and the rack and pinion model, as shown below.

[0081] Steering wheel and input shaft model

[0082]

[0083] In the formula, J 1 is the moment of inertia of the steering wheel, θ sw is the rotation angle of the steering wheel, T d Input torque for the driver, B 1 is the steering wheel rotation damping, T fan1 is the torque sensor signal;

[0084] Torque sensor model

[0085]...

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Abstract

The invention provides an electric wheel automobile steering road feeling and whole automobile stability control method. The method comprises the steps of firstly, building a steering and whole automobile system dynamics model, then, designing an ideal steering road feeling characteristic diagram, then, obtaining a steering road feeling controller, providing the proper steering road feeling for adriver, and finally obtaining a whole automobile stability controller so that the whole automobile can kept in stable running under various working conditions. By considering factors such as externaldisturbance, road surface parameter changes and sensor noise, robust mixed road feeling control is performed; then, by synthesizing the influence of road feeling control on the automobile state, wholeautomobile stability robust control is performed. Accordingly, the steering road feeling and control stability of an electric wheel automobile can be effectively improved.

Description

technical field [0001] The invention relates to the field of steering systems, in particular to a method for controlling steering road feel and vehicle stability of an electric-wheeled vehicle. Background technique [0002] The structure of the steering system on which the steering feel control strategy is based is shown in the appendix figure 1 , its structure is simple, there is no complicated mechanical connection, and because the motor is used as the power source, the response speed is fast, the economy is high, and it is easy to control accurately. Relatively small and can be eliminated through effective measures, it is a key technology for the future development of smart cars and driverless cars. [0003] However, there are relatively few studies on the steering feel and stability of electric wheel vehicles. The only research mainly focuses on steering efficiency and vehicle maneuverability, and its road feel control either cannot take into account both low and high ...

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Application Information

Patent Timeline

27 Mar 2018

Publication

CN107839749A

IPC: B62D5/04; B60L15/20

CPC: B60L15/2036; B62D5/0463; Y02T10/72

Inventors: 张子俊; 赵万忠