Steer-by-wire four-wheel steering subsection control method based on tire nonlinear characteristics
A segmented control and four-wheel steering technology, which is applied to automatic steering control components, steering mechanisms, steering rods, etc., can solve the problem that the controller is difficult to meet the vehicle control requirements
Active Publication Date: 2020-10-02
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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[0006] Aiming at the deficiencies of the above-mentioned prior art, the object of the present invention is to provide a segmented control method of four-wheel steer by wire based on the nonlinear characteristics of tires, so as to solve the problem that the controller designed under common working conditions in the prior art is difficult to Meet the vehicle control requirements under extreme conditions
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[0092] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention.
[0093] refer to figure 1 , figure 2 As shown, a segmented control method of four-wheel steering by wire based on tire nonlinear characteristics of the present invention comprises steps as follows:
[0094] (1) Establish tire model and vehicle dynamics model;
[0095] The steps to build the model are as follows:
[0096] (1.1) Tire model
[0097] Using the magic formula tire model, the expression of the magic formula tire model is:
[0098] y(x)=Dsin{Carctan[Bx-E(Bx-arctan(Bx))]} (1)
[0099] In the formula, y(x) is the tire lateral force, righting moment or tire longitudinal force; x is the side slip angle or slip rate; B is the stiffness factor; C is the curve shape factor; D is the p...
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The invention discloses a steer-by-wire four-wheel steering subsection control method based on tire nonlinear characteristics. The method comprises the steps that a tire model and a whole vehicle dynamic model are established; a tire characteristic region is defined, and a tire linear region, a weak nonlinear region, a strong nonlinear region and a saturation region are divided; a basic controllerK1 of the tire in a linear region and a weak nonlinear region is designed according to the defined tire characteristic region in combination with a mu comprehensive control theory; a non-linear controller K2 of the tire in a strong non-linear region is designed according to the tire characteristic region defined above; and a subsection control rule is designed. According to the control method, the common controller and the non-linear controller are arranged to control the vehicle in a subsection mode, vehicle control under the normal working condition can be achieved, when the tires are located in the non-linear region, the vehicle can be well controlled, and the safety and stability of the vehicle are guaranteed.
Description
technical field [0001] The invention belongs to the technical field of steering control, and in particular relates to a segmented control method of four-wheel steering by wire based on the nonlinear characteristics of tires. Background technique [0002] As the latest generation of steering system, the steer-by-wire system removes the mechanical connection between the steering wheel and the front wheels, and transmits the driver's driving intentions to the main controller through electrical signals. The main controller analyzes the driver's operating intentions to control the steering The electric motor makes the front wheels reach the corresponding angle. Therefore, the main advantage of steer-by-wire is that it can realize variable transmission ratio and active steering control. In addition, the steer-by-wire system can actively control the steering angle of the steering system according to the body sensor on the basis of the steering wheel angle input by the driver, so as...
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IPC IPC(8): B62D6/00B62D5/04B62D137/00
CPCB62D6/00B62D5/0463
Inventor 张自宇王春燕刘利锋王展赵万忠琴亚娟刘晓强
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS