The invention discloses a road feeling simulation device for a steer-by-wire system and a control method of the road feeling simulation device. The road feeling simulation device comprises a steering column, a torque and angle sensor, a speed reducer, a motor and a controller which are connected in sequence. The method comprises the following steps: calculating two components of a rack force based on a gear rack model and a vehicle model; carrying out weighted calculation on the two components to obtain an estimated rack force; the estimated rack force and the vehicle driving state are combined to calculate basic road feeling feedback; adding the compensation value into the basic road feeling feedback to obtain a torque reference value of the steering column; the controller carries out summation calculation on the torque reference value, the rack tail end protection torque and the disturbance estimation torque to obtain the target torque of the road feeling motor; and the controller controls the road feeling motor to output the target torque so as to realize real-time road feeling simulation of the vehicle in the driving process. When the steer-by-wire system is used, a driver can keep the road feeling of the vehicle, and the controllability of the vehicle and the safety under the extreme condition are guaranteed.
本申请公开了一种用于线控转向系统的路感模拟装置及其控制方法,所述装置包括顺次连接的转向管柱、力矩及角度传感器、减速机、以及电机及控制器;所述方法包括:基于齿轮齿条模型、车辆模型计算齿条力的两个分量;对两个分量进行加权计算得到估计齿条力;将估计齿条力与车辆行驶状态相结合计算出基础路感反馈;在基础路感反馈中加入补偿值,得到转向管柱的扭矩参考值;控制器将扭矩参考值,以及齿条末端保护扭矩、扰动估计扭矩进行求和计算,得到路感电机的目标扭矩;控制器控制路感电机输出目标扭矩,以实现车辆在行驶过程中的实时路感模拟。在使用线控转向系统时,本申请可以使驾驶员保持对车辆的路感,保证车辆的操控性及极端状况下的安全性。
Road feeling simulation device for steer-by-wire system and control method of road feeling simulation device
一种用于线控转向系统的路感模拟装置及其控制方法
2022-08-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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