Steer-by-wire double-motor system based on driver behavior identification and yaw stability compensation strategy thereof

A steering-by-wire and driver technology, applied to steering mechanisms, electric steering mechanisms, power steering mechanisms, etc.

Pending Publication Date: 2019-04-23
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

At present, the content of the steer-by-wire dual-motor system and its yaw stability compensation strategy based on driver behavior identification has not been reported yet.

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  • Steer-by-wire double-motor system based on driver behavior identification and yaw stability compensation strategy thereof
  • Steer-by-wire double-motor system based on driver behavior identification and yaw stability compensation strategy thereof
  • Steer-by-wire double-motor system based on driver behavior identification and yaw stability compensation strategy thereof

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Embodiment 1

[0109] refer to figure 1 The schematic diagram of the structure and layout of the double-actuator-motor system for steering-by-wire in the patent of the present invention is shown, which mainly includes: a collection unit, a central controller, a steering wheel assembly, and a front wheel steering assembly;

[0110] The acquisition unit includes: a steering wheel angle sensor 4, a steering wheel torque sensor 5, a front wheel angle sensor 9, a front wheel torque sensor 12, a vehicle speed sensor 19, a lateral acceleration sensor 20 and a yaw rate sensor 21;

[0111] The central controller (ECU) includes an arithmetic controller 7, a robust control and compensation unit 18; the robust control and compensation unit 18 includes a robust control unit and a compensation control strategy unit;

[0112] The steering wheel assembly includes a steering wheel 1, a steering column 2, a road sense motor 3, and a road sense motor controller 6 connected in sequence;

[0113] The front whee...

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Abstract

The invention discloses a steer-by-wire double-motor system based on driver behavior identification and a yaw stability compensation strategy thereof. The system comprises an acquisition unit, a central controller, a steering wheel assembly and a front wheel steering assembly; the compensation strategy of the steer-by-wire double-motor system is that: a predicted steering-wheel steering angle is obtained by driver behavior identification and a steering-wheel steering angle measured by a steering-wheel steering angle sensor, and is transferred to the central controller, a yaw angular speed gainand a lateral acceleration factor are integrated to obtain an ideal transmission ratio, and a relationship between the steering-wheel steering angle and an ideal input steering angle of a steering-angle motor is obtained and transferred to a steering angle motor controller so as to carry out open-loop control on the steering angle motor; then an ideal front wheel steering angle is obtained according to the steering-wheel steering angle and the ideal transmission ratio, an ideal yaw angular speed is obtained, a compensation torque of the system is obtained by a robust controller, and the compensation torque is transferred to a torque motor controller by a compensation control strategy so as to ensure rapid response performance of the system and driving stability in the driving process.

Description

technical field [0001] The patent of the present invention relates to the field of electric wheel vehicle power steering, in particular to a dual-motor system for steering-by-wire based on driver behavior identification and its yaw stability compensation strategy. Background technique [0002] Compared with the traditional steering system, the steer-by-wire system solves the defect of the fixed transmission ratio of the traditional steering system. In the actual driving process of the car, the ideal transmission ratio can be controlled according to the change of the vehicle speed. The steering-by-wire variable transmission ratio control not only increases the steering sensitivity of the car at low speeds, but also increases the driving stability of the car during high-speed driving. [0003] At present, the steer-by-wire system is mainly based on the single-actuator motor corner motor, and the current of the single-actuator motor is mostly controlled by closed-loop control, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D5/04B62D6/00B62D101/00B62D119/00B62D137/00
CPCB62D5/0463B62D6/00
Inventor 王安赵万忠陈莉娟王春燕张寒
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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