Steer-by-wire feeling simulation control method

Abstract

The invention relates to the technical field of steering control of vehicles and discloses a steer-by-wire feeling simulation control method which comprises the following steps of calculating a steering resistance moment by constructing a steering load model through dynamics, and calculating a steering load moment by constructing a load state observer through an output torque of a steering motor;obtaining a comprehensive output torque according to the steering resistance moment and the steering load moment; establishing an electric power-assisted steering system model, and calculating a power-assisted steering output torque; and obtaining a road feeling moment by combining the power-assisted steering output torque and the comprehensive output torque, and then feeding road information backto a road feeling device. In the steer-by-wire feeling simulation control method disclosed by the invention, by integrating the advantages of construction of the steering load model with the dynamicsand construction of the load state observer and complementing the insufficiency of the two, a relatively comfortable comprehensive output torque close to real is obtained, and thus the power-assistedsteering output torque is calculated in combination with the electric power-assisted steering system model for road information feedback to the road feeling device.

Description

technical field [0001] The invention relates to the technical field of steering control of vehicles, in particular to a method for simulating road feel of steer-by-wire steering. Background technique [0002] With the continuous development of automobile technology, automobile steering system has gone through four stages: mechanical steering, hydraulic power steering, electrohydraulic steering and electric power steering. With the continuous in-depth development of automotive electronics technology and the rise of intelligent networked vehicles, a new type of steering system has attracted attention, that is, steer-by-wire. [0003] The steering-by-wire system cancels the mechanical connection between the steering wheel and the steering wheel, and the steering is completely realized by electric energy, which gets rid of various restrictions of the traditional steering system. The corner transfer characteristics bring unlimited space to the design of automobile steering chara...

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Problems solved by technology

[0008] Based on the above, the object of the present invention is to provide a steer-by-wire road feel simulation control method that makes up for the problem that the dynamic calculation of the steering resistance cannot take into account the low adhesion road surface and the front wheel stuck, etc., and also solves the problem of the load observation method. Vibration problem on bumpy roads

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