The invention provides a drive-by-wire electro-hydraulic composite steering road feeling planning method, which comprises the following steps of: firstly, estimating equivalent steering resistance torque of an electro-hydraulic composite steering system based on a motor model and a vehicle dynamics model respectively, and then comprehensively estimating drive-by-wire equivalent steering resistance torque through a longitudinal speed weight method; combining the designed electric power-assisted characteristic curve with the hydraulic power-assisted characteristic curve to obtain a power-assisted characteristic curve of the wire-controlled electro-hydraulic composite steering system, and constructing a relationship between equivalent steering resistance torque and simulated hand torque of the wire-controlled electro-hydraulic composite steering system according to the power-assisted characteristic curve of the wire-controlled electro-hydraulic composite steering system; and finally, according to the equivalent steering resistance moment of the drive-by-wire electro-hydraulic composite steering system obtained through real-time estimation, obtaining a real-time simulation hand moment, namely steering road feeling. According to the road feeling planning method provided by the invention, the authenticity, accuracy and applicability of road feeling simulation of the drive-by-wire electro-hydraulic composite steering system are improved, and accurate and reliable road feeling can be obtained, so that the driving feeling of a driver is improved.
本发明提出了一种线控电液复合转向的路感规划方法,该方法包括:首先分别基于电机模型和基于车辆动力学模型估计电液复合转向系统等效转向阻力矩,然后通过纵向速度权重法综合估计线控等效转向阻力矩,之后将设计的电动助力特性曲线与液压助力特性曲线结合得出线控电液复合转向系统助力特性曲线,根据线控电液复合转向系统助力特性曲线构建线控电液复合转向系统等效转向阻力矩与模拟手力矩之间的关系,最后根据实时估计得到的线控电液复合转向系统等效转向阻力矩得到实时的模拟手力矩,即转向路感。本发明提出的路感规划方法提高了线控电液复合转向系统路感模拟的真实性、准确性和适用性,有助于获得准确可靠的路感,从而提升驾驶员的驾驶感受。
Road feeling planning method for drive-by-wire electro-hydraulic composite steering
一种线控电液复合转向的路感规划方法
2024-08-20
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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