机理分析汽车线传转向系统的转向盘操纵识别与双向同步控制.pdfVIP

学兔兔 · 基础研究· 汽车线传转向系统的转向盘操纵识别 与双向同步控制 李尚司 蔡智凯 陈曦 连小珉 (清华大学汽车安全与节能国家重点实验室) 【摘要】为了实现汽车线传转向系统对传统机械转向系统基本转向回正功能的模拟再生，首先根据转向盘转矩变化率 对转向盘操纵模式进行识别，完成线传转向系统中电控方向机的主从工作模式转换判断。运用PID的转角闭环控制，实现 线传转向系统的双向同步控制，包括电控方向机主动模式中转向机小齿轮的转角跟随及电控方向机从动模式中转向盘的 转角跟随。通过台架试验验证了转矩变化率识别法和双向同步控制的可行性。 主题词：线传转向系统 转向盘操纵识别 双向同步控制 PlD 中图分类号：U463．4 文献标识码：A 文章编号：1000—3703(2015)12-0017-04 Recognition of Steering Wheel Manipulating and Bilateral Synchronous Control in the Steering By Wire Control System for Vehicles Li Shangsi，Cai Zhikai，Chen Xi，Lian Xiaomin (State Key Laboratory of Automobile Safety and Energy Conservation，Tsinghua University) 【Abstract】In order to simulate regeneration of basic steering and retum—to—center functions of traditional mechanic steering system in steering by wire control system for vehicles，we firstly apply steering torque gradient to recognize steering wheel manipulating mode，and accomplish the judgment of when to switch the operating mode between driving mode and driven mode of electronic steering wheel machine．PID closed loop control of steering angle is designed to realize the bilateral synchronous control of steering by wire control system，which includes ande tracking of steering gear pinion in electronic steering machine drivJ Lng mode and angle tracking of steering wheel in electronic steering machine driven mode． Test results in the bench test verify the feasibility of recognizing method with steering torque gradient and bilateral synchronous contro1． Key words：Steering by wire control system，Recognition of steering wheel manipulating， Bilateral synchronous conl~rol，PID 车轮回正