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建立了线控转向系统方向盘模块的动力学模型,提出了线控转向系统路感的分层控制策略。其中,上层控制策略主要是研究不同车速和方向盘转角下方向盘的目标回正力矩;下层控制策略主要是通过分数阶PIλDμ控制器,根据已经确定的方向盘目标回正力矩对路感模拟电机进行实时控制,以实现驾驶员的路感模拟和方向盘的回正。仿真结果表明,所设计的分数阶PIλDμ控制器能很好地满足实际需要。
The dynamics model of the steer-by-wire steering system steering wheel module is established, and the stratification control strategy of the steering system of the steer-by-wire system is proposed. Among them, the upper control strategy is mainly to study the steering torque of the steering wheel with different vehicle speed and steering wheel angle. The lower control strategy mainly realizes the real-time control of the road-feeling analog motor according to the determined steering torque of the steering wheel through the fractional PIλDμ controller , In order to achieve the driver’s road feel simulation and steering wheel back to positive. Simulation results show that the designed fractional PIλDμ controller can meet the actual needs.