The invention provides a steering-by-wire system road feel torque determination method and device and a storage medium. The steering-by-wire system road feel torque determination method comprises the steps that coulomb friction compensation torque Tc is calculated; according to the coulomb friction compensation torque Tc, the steering wheel torque Tf and the damping torque Tdamp, the driver input torque is determined, the whole system structure is divided into a steering wheel subsystem and an active steering subsystem, and the road feeling torque is represented by an automobile model transmitting current from a road feeling motor to the steering wheel torque. A road torque expression related to the vehicle speed and the road condition is designed for a steering wheel subsystem, a damping model and a coulomb friction model are used for correcting the torque expression, and the tracking precision is improved by processing complex friction parameter estimation based on a backstepping method.

    本发明提出一种线控转向系统路感转矩确定方法、装置及存储介质,线控转向系统路感转矩确定方法包括:计算库伦摩擦补偿力矩Tc;根据库伦摩擦补偿力矩Tc、方向盘转矩Tf及阻尼力矩Tdamp,确定驶员输入扭矩将系统整体结构分为方向盘子系统和主动转向子系统,路感转矩由一个从路感电机传递电流到方向盘转矩的汽车模型表示。针对方向盘子系统设计了车速和路况相关的道路扭矩表达式,并且利用阻尼模型和库伦摩擦模型对转矩表达式进行修正,基于反步法通过处理复杂的摩擦参数估计来提高跟踪精度。


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    Title :

    Steer-by-wire system road feel torque determination method and device and storage medium


    Additional title:

    线控转向系统路感转矩确定方法、装置及存储介质


    Contributors:
    SONG YUANG (author) / WANG JINXIANG (author) / BAI SHUO (author) / YAN YONGJUN (author) / LIU DONGANG (author) / HU JINGYU (author) / LIU NENG (author) / YANG YUHUI (author) / NIU JUNYAN (author) / LIU RAN (author)

    Publication date :

    2023-07-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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