The invention relates to a steering-by-wire road feeling simulation method and system capable of being reconfigured and defined, and the method comprises the steps: constructing a road feeling feedback simulation model, the road sense feedback simulation model comprises an aligning torque module, an assisting torque module, a friction compensation torque module, a damping compensation torque module, an inertia compensation torque module and a soft dead center limiting torque module based on rack force observation, and outputs of all the modules are integrally added to obtain a total expected road sense motor torque; the steering wheel rotating angle, the rotating speed, the torque, the observation rack force and a vehicle speed signal are input into a road feeling feedback simulation model, the total expected road feeling motor torque is obtained and transmitted to a road feeling motor, and the road feeling feedback torque is output to a steering wheel through the road feeling motor; and each module in the road feel feedback simulation model is provided with adjustable parameters. Compared with the prior art, the method has the advantages that the reconfigurable definition characteristic is added, and different steering wheel hardware characteristics and road feeling requirements can be met by adjusting related parameters.
本发明涉及一种可重构定义的线控转向路感模拟方法和系统,方法包括:构建路感反馈模拟模型,该路感反馈模拟模型包括基于齿条力观测的回正力矩模块、助力力矩模块、摩擦补偿力矩模块、阻尼补偿力矩模块、惯性补偿力矩模块和软止点限位力矩模块,并将各模块的输出整体相加得到总的期望路感电机力矩;将转向盘转角、转速、力矩、观测齿条力以及车速信号输入路感反馈模拟模型中,获取总的期望路感电机力矩,并传输到路感电机,通过路感电机输出此路感反馈力矩至转向盘;路感反馈模拟模型内各个模块均设有可调节参数。与现有技术相比,本发明加入了可重构定义的特性,可通过调节相关参数适应不同的转向盘硬件特性和路感需求。
Reconfigurable defined steer-by-wire road feeling simulation method and system
一种可重构定义的线控转向路感模拟方法和系统
2024-07-12
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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