关于电动轮驱动汽车驱动助力转向技术.pdfVIP

学兔兔 第46卷第14期 机 械 工 程 学 报 VO1．46 No．14 2 0 1 0年 7月 J0URNAL OF MECHANICAL ENGINEERING Ju1． 2 0 1 O DoI：1O．3901／JME．2010．14．101 电动轮驱动汽车驱动助力转向技术术 靳立强 王军年 宋传学 胡长健 (吉林大学汽车动态模拟围家重点试验室 长春 130025) 摘要：根据电动轮驱动汽车转向轮驱动力可独立控制的特点，提出利用左右转向轮驱动力独立控制产生转向助力力矩实现减 小驾驶员手力目的驱动助力转向技术。分析驱动助力转向技术的原理，建立其力学模型和系统结构，提出由以转向角和车速 输入的前馈控制和以实际转向手力与理想手力差值的反馈控制构成的驱动助力转向技术的控制策略，并设计出理想转向手力 特性曲线。搭建驱动助力转向技术的验证试验车，利用控制器快速原型技术对提出的驱动助力转向技术及控制策略进行包括 定圆周行驶、双移线及原地转向等多工况的实车试验验证，结果表明所提出驱动助力转向技术在各种工况下均可明显减轻驾 驶员手力并使其符合理想转向手力特性，它为电动轮驱动汽车的转向助力技术提供了一种新的实现方法。 关键词：电动汽车 轮毂电动机 转向助力 中图分类号：U469．72 Power Steering by Driving Force for Vehicle with Motorized Wheels JIN Liqiang WANG Junnian SONG Chuanxue tlU Changjian (State Key Laboratory ofAutomobile Dynamic Simulation，Jilin University,Changchun 1 30025) Abstract：Based on the characteristics of independently drive for EV with motorized wheels，the power steering by driving force which decreases hand force of driver by controlling the driving force of the right and left steerable wheels to produce the assistance steering torque is brought out．The theory and mechanics model and the structure of power steering by driving force are presented． Including the feedforward control by the input of steering angle and vehicle velocity and feedback control by the difference of the actual hand force and the ideal hand force，the control strategy of power steering by driving force is proposed．The characteristics curve of ideal hand force is developed．The test vehicle of power steering by driving force is made．Based on the rapid prototyping technology,the test validation of the power steering by driving force and control strategy is performed on multi running conditions including fixed circle driving，doub