四轮全方位线控转向系统设计与控制方法研究.docxVIP

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网址：电邮：hrbengineer@163.com圆园22年第12期

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圆园22年第12期网址：电邮：hrbengineer@163.com

四轮全方位线控转向系统设计与控制方法研究

李波1，白艳飞1，李双双1，周佳1，董洪昭2

（1.北京新能源汽车股份有限公司，北京100000；2.北京工商大学人工智能学院，北京100048）

摘要：为提升车辆转向的机动灵活性，摆脱传统转向机构的束缚，探索新型的转向模式，设计一个四轮全方位线控转向系统。针对单个车轮360°转向需求，文中对全方位转向系统的具体结构进行了设计与优化，完成了转向阻力矩的计算和有关零部件的设计、选型，对原地转向、楔形行驶等机动转向模式下的转角分配策略进行了分析，并针对永磁同步电动机设计了位置环-速度环-电流环三闭环空间矢量控制算法及其控制器。结合仿真与台架实验验证了所提出的四轮转角分配策略及转角闭环控制策略的有效性，可为新一代汽车转向系统的设计提供一种新的思路。

关键词：全方位线控转向设计；永磁同步电动机；三闭环控制算法；四轮转角分配

中图分类号:U463.42 文献标志码:粤 文章编号：员园园圆原圆猿猿猿（圆园22）12原园143原园7

DesignandControlMethodofFour-wheelOmnidirectionalSteering-by-wireSystem

LIBo1, BAIYanfei1, LIShuangshuang1, ZHOUJia1, DONGHongzhao2(1.BAICBJEV,Beijing100000,China;2.SchoolofArtificialIntelligence,BeijingTechnologyandBusinessUniversity,Beijing100048,China)Abstract:Inordertoimprovethemaneuverabilityofvehiclesteering,getridoftheconstraintsoftraditionalsteeringmechanisms,andexplorenewsteeringmodes,afour-wheelomnidirectionalsteering-by-wiresystemisdesigned.Accordingtothe360毅steeringrequirementofasinglewheel,thispaperdesignsandoptim