CN102730059A - Method for generating control function of feedforward control steering system of motor-driven vehicle - Google Patents

Method for generating control function of feedforward control steering system of motor-driven vehicle Download PDF

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Publication number
CN102730059A
CN102730059A CN2012101040331A CN201210104033A CN102730059A CN 102730059 A CN102730059 A CN 102730059A CN 2012101040331 A CN2012101040331 A CN 2012101040331A CN 201210104033 A CN201210104033 A CN 201210104033A CN 102730059 A CN102730059 A CN 102730059A
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deflection angle
control
power actuated
function
actuated vehicle
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CN102730059B (en
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吉尔伯托·布尔焦
彼得·W·A·泽格拉尔
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Ford Global Technologies LLC
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Ford Global Technologies LLC
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Abstract

The invention relates to a method for generating control function of feedforward control steering system of motor-driven vehicle. The control function is described as the steering angle amendment (delta fc, delta rc) of the function of two parameters,the target action predefined according to the current action and steady state cornering of the vehicle determines the steering angle amendment (delta fc, delta rc),the function is a function of the transverse acceleration (ay) generated during the steady state cornering process and the curve radius (R) generated during the steady state cornering process,the steering angle amendment relied on the transverse acceleration (ay) and the curve radius (R) is converted into a steering angle amendment (delta fc, delta rc) relied on the driver-used steering angle (delta D) and the axial acceleration (vx) through mathematical modeling, and then the steering angle amendment (delta fc, delta rc) forms the control function.

Description

Be used to generate the method for control function of the feed forward control steering swivel system of power actuated vehicle
Technical field
Present invention relates in general to design, adjustment and the operation of control of the steering swivel system of power actuated vehicle.Particularly; The present invention relates to a kind of feedforward (feedforward) that is used to generate power actuated vehicle and control the method for the control function of steering swivel system (control of feedforward active steering), and relate to a kind of control method and control system that is used for the feed forward control steering swivel system of power actuated vehicle.
Background technology
The active steering technology provides the possibility as the response of the function adjustment power actuated vehicle of various driving situation.For example, if the power actuated vehicle in the cities and towns typically to drive at low speed, owing to the load of the reason chaufeur that turns to is high relatively through small streets.In this case, therefore need steering swivel system that deflection angle is had good respondent behavior and high yaw response, and cause a kind of power actuated vehicle that more is prone to response like this.
Another kind of situation is to turn to load at running on expressway with low, typically when high speed, takes place.In this case, need vehicle that relatively little response is arranged, that is, need identical deflection angle that wheel is had relatively little effect, this causes the respondent behavior more stably of power actuated vehicle and allows more comfortable driving.
Active front turns to technology and the electrical steering of (AFS), and (line traffic control, technology SbW) realizes that through making on the deflection angle that will be superimposed upon chaufeur by the deflection angle of electric machine control these characteristics become possibility.
Similarly the active rear steer (ARS) of the angle of toein (toe angle) of characteristic through initiatively revising hind axle becomes possibility; Therefore or become sensitive more the respondent behavior of power actuated vehicle; Prerequisite is ARS angle and deflection angle contrary sign; Become stable and more comfortable more, prerequisite is ARS angle and deflection angle jack per line.
In order to realize above-mentioned characteristic, the algorithm with two-dimentional controller characteristic curve figure is generally as the function of deflection angle and the function of speed of vehicle.These controller characteristic curves figure also is called as feedforward figure (FFM).
Controller characteristic curve figure typically moves through operative norm, the prototype experiment property ground adjustment of the power actuated vehicle of concrete example such as steady-state turn.For each steady-state turn condition of discerning by specific deflection angle and specific car speed; Whether the application engineer inspection of the respondent behavior of assessment power actuated vehicle has correction on the direction of the direction of response or stability, and above-mentioned technical personnel finds the correct adjustment corresponding to the point of this deflection angle and this car speed that is used for controller characteristic curve figure with this method based on test and personal experience.
On the one hand, this program needs the availability of the prototype of power actuated vehicle, and on the other hand, this program expends time in very much.The result also depends on the experience of application engineer to a great extent, and the figure that produces only has low resolution.
Summary of the invention
The object of the present invention is to provide a kind of feedforward active front steering system that is used to power actuated vehicle to produce the favorable method of control function and favourable control method and the favourable control system that is used for the feedforward active front steering system of power actuated vehicle.
This purpose realizes through following technical scheme respectively.According to the present invention, make the method for control function that produces the feed forward control active front steering system of power actuated vehicle for predefined goal behavior to use.Control function is described the deflection angle correction as the function of two parameters.In the method, confirm the deflection angle correction, as the function of transverse acceleration that in the steady-state turn process, takes place and the turning radius that in the steady-state turn process, takes place based on the current behavior of power actuated vehicle and the predefined goal behavior of steady-state turn.Through mathematical modeling, convert the deflection angle correction that depends on transverse acceleration and turning radius to depend on deflection angle and longitudinal velocity deflection angle correction, the deflection angle correction forms control function then.The deflection angle correction can comprise at least one correction of deflection angle of at least one correction and/or trailing wheel of the deflection angle of front-wheel here.Mathematical modeling can obtain mathematical modeling here from the steady-state turn of auto model or power actuated vehicle.In the method, based on mathematical modeling and the deflection angle correction generation equation system that depends on transverse acceleration and turning radius, this equality system separates the formation control function.Control function here can be provided by the explicit solution of equation system.Control function can be represented by the controller characteristic curve figure that obtains based on equation system.In the method, goal behavior can obtain from another power actuated vehicle.
The invention also discloses a kind of control method that is used for the feed forward control steering swivel system of power actuated vehicle, this control method is used the control function that obtains according to said method.
The invention also discloses a kind of control system that is used for the steering swivel system of power actuated vehicle, this control system has the control unit of the feed forward control steering hardware that is used for power actuated vehicle, and this control unit is based on the control function that obtains according to said method.
Owing to confirm to be used for this fact of control of steering swivel system according to the method for the invention based on the expected behavior of the current behavior of power actuated vehicle and power actuated vehicle, the behavior that turns to that can not need prototype and reduce the complete machine motor vehicle with the situation of the test program that does not need complicacy.In addition because the assessment of the test result that does not need rule of thumb to obtain, so can guarantee to turn in quality and the vehicle of enforcement of steering swivel system the quality of system itself with the experience that reproducible mode does not satisfactorily rely on application engineer.Based on the dependence of control function to the deflection angle and the longitudinal velocity of power actuated vehicle, can the feed forward control active front steering system based on control function easy to implement, wherein the deflection angle of power actuated vehicle and the longitudinal velocity form with numerical value in any power actuated vehicle can be used.
The expectation target behavior of vehicle can obtain from response according to the understeer diagram.Response can easily obtain from the understeer diagram, and the result can accomplish the adaptation of steering swivel system very satisfactorily.
Goal behavior can also obtain from another power actuated vehicle particularly.For example, the behavior that turns to of power actuated vehicle can be adapted to the behavior that turns to of another power actuated vehicle in this way.
Control can comprise the front wheel spindle that is used for power actuated vehicle and/or the active front steering system of hind axle.Particularly, if front wheel spindle and hind axle are turned to, obtain various adaptation possibilities for the behavior that turns to of power actuated vehicle so.
The mathematical modeling that the deflection angle correction that is used for depending on transverse acceleration and turning radius converts the deflection angle correction that depends on deflection angle and longitudinal velocity into can obtain from auto model, for example, can from unidirectional model, obtain.Selectively, also there is the possibility of from the steady-state turn of power actuated vehicle, obtaining math modeling, also promptly rule of thumb obtains.
Based on mathematical modeling and the conversion of deflection angle correction that depends on transverse acceleration and turning radius in an embodiment of this method through producing the equation system generation, wherein equation system separates the formation control function.Under this background, can control function be provided through the explicit solution of equation system, perhaps can represent control function through the controller characteristic curve figure that obtains based on equation system.
Control method according to the feed forward control steering swivel system that is used for power actuated vehicle according to the present invention is used control function, and this control function utilization method that is used to produce control function according to the present invention is obtained.The requirement that the use of the control function that produces by this way allows under the situation of low cost and implements control method or be adapted to change with reproducible mode satisfactorily.
The control system that is used for the active front steering system of power actuated vehicle according to the present invention comprises the control unit of the feed forward control active steering device that is used for power actuated vehicle.Control unit is based on the control function that obtains according to the method that produces control function.Utilize the control function that produces by this way to allow the requirement of under the situation of low cost, implementing control system and being adapted to change.
Description of drawings
Further aspect of the present invention, performance and advantage can obtain in following description to exemplary embodiment with reference to accompanying drawing, wherein:
Fig. 1 representes the scheme drawing of power actuated vehicle;
Fig. 2 representes the understeer diagram of power actuated vehicle;
Fig. 3 representes to be used for the diagram of the control of hind axle steering swivel system;
Fig. 4 representes with the controller characteristic curve figure that is used for the front wheel spindle steering swivel system that obtains according to the method for the invention; And
Fig. 5 representes with the control function that is used for the front wheel spindle steering swivel system that obtains according to the method for the invention.
The specific embodiment
Accompanying drawing only is used to the present invention is described and unrestricted the present invention.Accompanying drawing is not necessarily drawn with each parts in proportion.Same Reference numeral refers to identical or similar parts.
Fig. 1 representes the scheme drawing of the power actuated vehicle 1 as passenger vehicle or truck.Vehicle 1 has front wheel spindle 2 and hind axle 3, and front wheel spindle 2 has wheel 4 with hind axle 3.The steering swivel system 5 of front wheel spindle 2 utilizes bearing circle 8 to operate and act on the front wheel spindle 2 by the chaufeur of power actuated vehicle 1.Except traditional front wheel spindle steering swivel system, hind axle 3 also can turn to through the steering swivel system 9 that is present on the hind axle 3, and for this reason, the angle of toein of hind axle 3 is adjusted.Hind axle 3 can turn on the equidirectional with respect to front wheel spindle 2 or on the opposite sense with respect to front wheel spindle 2, turn to.
The active steering control of controller 6 through front wheel spindle 2 and/or hind axle 3 turns to function or turns to the auxiliary of function, the steering swivel system 5,9 that wherein turns to function or turn to the auxiliary use of function to exist.For the respondent behavior of implementing controller 6 and the respondent behavior that turns to function, controller 6 utilizes control function or controller characteristic curve Fig. 7, and control function or controller characteristic curve Fig. 7 are for the expectation target behavior of power actuated vehicle and produce.Confirm control function or controller characteristic curve Fig. 7 through expectation target behavior and the current behavior thereof of considering vehicle then.For example, two variable (longitudinal velocity v have been represented to have among Fig. 4 xAnd angle D) controller characteristic curve figure or control function, for example, represented to have variable (longitudinal velocity v among Fig. 5 x) the rate of amplitude function.
Produce the control function of the feed forward control steering swivel system that is used for power actuated vehicle for predefined goal behavior based on Fig. 2 to 5 explanation.Control function has been described the deflection angle correction δ that is used for front-wheel as the function of two parameters FcAnd the deflection angle correction δ that is used for trailing wheel Rc
Fig. 2 representes to be used for the understeer diagram of power actuated vehicle of steady-state turn of 100 meters circle, and being used for initiatively in this case, hind axle turns to.Certainly, can also select the understeer diagram of active front axle steer system.Likewise; Can also be with being used to be different from least one understeer diagram of power actuated vehicle of steady-state turn of radius of 100 meters as optional, perhaps except being used for 100 meters the understeer diagram of steady-state turn of circle, also use at least one understeer of power actuated vehicle of the steady-state turn of other radiuses to illustrate.In the understeer diagram, for the actual steering behavior (solid line) and the expectation target behavior (dotted line) of power actuated vehicle are all drawn in order to drive the transverse acceleration (a of the deflection angle (FWA, front-wheel angle) of the front-wheel that is adopted by chaufeur to power actuated vehicle along 100 meters circle y) figure.
The deflection angle FWA of front-wheel is connected to the pivot angle of the wheel flutter that is adopted by chaufeur through transmitting ratio.In agenda, the deflection angle of the front-wheel that is adopted by chaufeur in order to drive along 100 meters circle is directly defined by the pivot angle of bearing circle through transmitting ratio.In goal behavior, steering swivel system experiences a kind of correction, and this correction causes such situation: drive for the circle along 100 meters, chaufeur has to adopt the pivot angle of bearing circle shown in dotted lines in Figure 2.In this example, accomplish this correction through active hind axle steering swivel system.
Understeer diagram is in the power actuated vehicle of stable state to description the characteristic of respondent behavior is very useful; And; Possible expectation target behavior to the definition power actuated vehicle also is very useful, and the expectation target behavior of power actuated vehicle can for example be implemented by active front steering system then.
Diagram among Fig. 2 proposes a kind of possible control of hind axle steering swivel system, and it is that requirement by relatively little moving corner and high relatively understeer gradient causes.With regard to turning to regard to the behavior of vehicle, this goal behavior means that when having low relatively transverse acceleration, vehicle is more prone to response, and the result is reduced by the divertical motion that chaufeur is carried out.Particularly, control the deflection angle that needs in the process in parking and therefore reduce about 20%.In addition, the goal behavior of shown vehicle means that vehicle reacts less when high relatively transverse acceleration, and the result is littler to the divertical motion reaction.Therefore comprise some major requirements from the graphic goal behavior of understeer or target response, these require to be made up of the raising of response with stability, as the modern times be used for the control system on chassis desired.The correction of carrying out in order to reach dashed curve is based on various transverse acceleration a y(Fig. 3 lean on last figure) and radius R circular in each (Fig. 3 by under figure) time be used for the correction angle ARS (as shown in Figure 3) that the active hind axle turns to.The correction angle overview of trailing wheel from Fig. 3, lean among summary and Fig. 3 of the correction angle overview shown in the last figure by under figure shown in the adding and middle acquisition of correction angle overview.
Can also confirm goal behavior for another power actuated vehicle.For example, can expect, will be near the behavior that turns to of power actuated vehicle with active front axle steer system and/or initiatively understeer behavior of another existing vehicle of hind axle steering swivel system.
Therefore, it is obvious that, and any desired understeer diagram with expectation target behavior can be used to define one or more goal behaviors.
Goal behavior from understeer diagram (Fig. 2) is abideed by following formula:
δ D = arctan ( l R ) | T + K T ( a y , R ) = f T ( a y , R ) - - - ( 1 )
Here, δ DThe deflection angle that expression is adopted by chaufeur or will be adopted by chaufeur, R is illustrated in the turning radius in the steady-state turn process, a yTransverse acceleration and K in the expression turning process TThe objective function of expression understeer or expectation understeer gradient.
Should guarantee that formula 1 has reflected the possible non-human act of power actuated vehicle.For this reason, should use following two conformability rules.
Rule 1 is provided by following formula 2, regulation f TBe a yPositive monotonic increasing function.f T＞0， ∂ f T ∂ a y > 0 - - - ( 2 )
For vehicle, this means that under the situation of turning with constant radius R, the increase of deflection angle is corresponding to transverse acceleration a yRaising, transverse acceleration a yRaising be usual for example to the power actuated vehicle of understeer.
Rule 2 is provided by following formula 3, regulation f TIt is the monotone decreasing function of R.
&PartialD; f T &PartialD; R < 0 - - - ( 3 )
For vehicle, this means that under the situation of turning with constant transverse acceleration, big relatively turning radius causes reducing of deflection angle, and under the situation of relatively little turning radius, cause deflection angle to increase.
Transverse acceleration a yWith these two variable-definition two-dimensional spaces of turning radius R, below be called requirement territory (requirements domain), abbreviate RD as.
On the graphic basis of the understeer of Fig. 2 after the objective definition behavior, the control function of confirming to be used for the feed forward control steering swivel system of power actuated vehicle with respect to goal behavior will be described below.
Based on corresponding to non-linear single locus model by the power actuated vehicle of the empirical evaluation that obtains of test stroke, the angle that will adopt by chaufeur DAnd the deflection angle correction δ at still undetermined till now front and rear wheel place Fcδ RcCan express by following equality:
&delta; D + &delta; fC - &delta; rC = arctan ( l R ) + K ( a y , R ) - - - ( 4 )
Equality 4 has been introduced the unknown control variable δ of the activation that is used for active front axle steer system (AFS) or steering-by-wire (SbW) FCAnd the variable δ that is used for the activation of active hind axle steering swivel system (ARS) RC
In equality 4 by the angle that adopts or will adopt by chaufeur by chaufeur of equality 1 replacement DCause the correction angle (δ of front-wheel Fc) and/or the correction angle (δ of trailing wheel Rc), they turn to the difference between behavior and the goal behavior to provide through current (bearing):
&delta; fC - &delta; r C = ( arctan ( l R ) - arctan ( l R ) | T ) + ( K ( a y , R ) - K T ( a y , R ) ) - - - ( 5 )
Perhaps be equivalent to
δ fC-δ rC＝Δ Kin(R)-ΔK(a y，R) (6)
Can find out farthest from equality 6 that control process is formed by two.First Δ Kin(R) be to be purpose, and be defined as positive in this case to reduce the motion deflection angle.The response of power actuated vehicle when having improved low speed so generally, if wherein the turning behavior receives the deflection of tire to move rigidity effects, this effect reduces when high relatively transverse acceleration.Second Δ K (a y, be thereby that comfortable and stable when increasing the understeer gradient and improve relative high speed is purpose R).If the K of expectation target behavior T(a y, the R) K (a when not having the deflection angle correction y, R), so in this case, second also is defined as positive.
The active steering of definition all is actv. to active front axle steer AFS with the combination that the active hind axle turns to ARS or active front axle steer and active hind axle to turn to by this way.The difference of AFS and ARS only is-symbol is opposite.
The development interesting and that simplify of formula comprises, and controls by the such fact of the percentage expression that departs from from nominal value:
&Delta; Kin ( R ) = WB R % * arctan ( l R ) - - - ( 7 )
ΔK(a y，R)＝UGI ％*K(a y，R)
(wheelbase reduces percentum, WBR to formula 7 corresponding to having reduced given percentum %) the equivalent of wheelbase of power actuated vehicle 1 reduce and increased given percentum (the understeer gradient increases percentum, UGI %) the requirement that increases of the equivalent of understeer gradient.
In this case, turning to of being proposed only has two adjustments data, specifically is WBR %And UGI %, and represent by following formula:
&delta; fC - &delta; rC = WB R % arctan ( l R ) - UGI % K ( a y , R ) - - - ( 8 )
Fig. 3 representes to describe in the formula 8 for example is used in requiring territory RD initiatively that hind axle turns to the representative type of the control of ARS to implement.Lean on last diagram to represent to be used to revise the correction angle of understeer gradient among Fig. 3, it is transverse acceleration a yLinear function.Among Fig. 3 by under the correction angle of diagram (motion) response when representing to be used to revise low speed, it is the hyperbolic function of turning radius R.These two angles add and also implement together.
Formula according to the control of equality 8 has the following advantages: it is very simple and as long as the objective definition behavior is just only based on two adjustments data in the understeer diagram.Another advantage is that under the situation that does not have cross-coupled or lateral, each function only has a variable with two function representation controls.
The directed forward or control of coupling forward of definition in requiring territory RD now.Yet turning radius is to be difficult to the static value measuring or estimate.Therefore be difficult in power actuated vehicle 1, implement the control of definition by this way.
Implement for the ease of implementing or allowing fully, new two-dimensional space is provided, it is called as controller enforcement territory (CID) and receives the angle that is adopted by chaufeur DWith longitudinal velocity v xRestriction, angle wherein DIt is one of numerical value centering fwd.For this reason, the relation between RD and the CID
Figure BDA0000151855310000091
is with the formal definition of mathematical modeling:
For the good power actuated vehicle that typically has the understeer behavior at nonlinear area of design, this relation only is the dijection of the set of the graphic measurement point of understeer.
Result of a measurement in all vehicles or well estimate and be used for the Typical control characteristic map of active steering (feedforward figure FFM) is expressed as preceding angle DWith longitudinal velocity v xFunction the time because the angle that will adopt by chaufeur DWith longitudinal velocity v xBe present among the CID, above-mentioned relation is especially easy to implement.
Relation
Figure BDA0000151855310000093
obtains from the model of power actuated vehicle easily or the direct data logging controlled of self test always and come the simple relation of homeostasis to obtain easily.Relation
Figure BDA0000151855310000094
can be represented as follows:
R = v x 2 a y &delta; D = ( 1 - WBR % ) a tan ( l R ) + K ( a y , R ) + UGI % K u a y - - - ( 9 )
Then through finding the solution by having four variablees (R, a y, δ D, v x) the following system that forms of three equalities provide final controller characteristic curve figure:
&delta; fC - &delta; rC = WBR % arctan ( l R ) - UGI % K ( a y , R ) R = v x 2 a y &delta; D = ( 1 - WBR % ) a tan ( l R ) + K ( a y , R ) + UGI % K u a y - - - ( 10 )
Wherein R and a yThrough the substitution method cancellation.Then, the final controller characteristic curve figure M of definition control can represent as follows in CID:
δ fC-δ rC＝M(δ D，v x，WBR ％，UGI ％) (11)
Equality 11 has two independents variable and two adjustments data only, make the controller of definition by this way enforcement and use very simple.
Fig. 4 representes the Typical control characteristic map that is used for the active front axle steer AFS of system that calculates according to formula 10 and 11.Fig. 4 representes the longitudinal velocity v as front wheel spindle xWith the angle that adopts by chaufeur or will adopt by chaufeur DThe overview of deflection angle correction of active front axle steer system of function.
The following behavior of controller and the following behavior of vehicle can obtain from controller characteristic curve figure.When the low speed of a motor vehicle, the deflection angle of front wheel spindle saturated causes constant longitudinal velocity v xThe time deflection angle correction saturated.This expects for being avoided active front axle steer system manipulation front wheel spindle to get into more the saturated of the degree of depth.When relative high speed, also can find to take place the saturated of deflection angle correction, it causes at the less direct steerage gear at middle part and the more direct steerage gear outside the middle part.Another kind of optional mode is an angle DThe linearly dependent of deflection angle correction, as after a while with respect to equality 13 will become clear.With regard to big operating angle, existence is owing to wheel stop is saturated; It is only relevant with AFS.
The explicit solution of above equation system can show linearly through the supposition front-wheel according to following equality and obtain:
K(a y，R)＝K ua y (12)
The explicit solution of equation system can be by following equation expression then:
&delta; fC - &delta; rC = WBR % l v x 2 - UGI % K u ( 1 - WBR % ) l v x 2 + ( 1 + UGI % ) K u &delta; D = F ( v x ) &delta; D - - - ( 13 )
Magnification function F (the v of the longitudinal velocity that the controller characteristic curve figure formation of simplifying by this way and the deflection angle of front-wheel multiply each other x).Fig. 5 has explained overview function F (v x).
For situation that use to simplify solution, directly use the enforcement of the feedforward steering swivel system of equality 13 to be fit to, reason is that the closed form of function or algebraically implements than operating more easily with the enforcement of characteristic map form.
For the situation of the active front axle steer AFS of system, equality 13 also can be expressed as variable-speed ratio (variable-speed ratio, VGR):
VGR = 1 + v x 2 v chD 2 1 + v x 2 v ch 2 R D - - - ( 14 )
Here, two adjustments data are desired character speed v ChDWith expectation steering gear ratio R DIn this example, control also can easily be implemented and operated.
In operating process, the variable of the renewal that needs of processing controller 6 continuously in controller 6 is like deflection angle and/or longitudinal velocity.For more accurate, for example perhaps implement to calculate continuously to turn to behavior, and steering swivel system 5 and steering swivel system 9 correspondingly are set with the initial algebra of function through controller characteristic curve figure (Fig. 4) or one dimension control function (Fig. 5).
Should also be noted that in described equality, for example equality 13, the correction angle (δ of front-wheel Fc) or the correction angle (δ of trailing wheel Rc) can be zero.Under first kind of situation, just there is pure active rear steer system, and under second kind of situation, has pure active front steering swivel system.If two all exist, the combination that exists active rear steer and active front to turn to so.

Claims (11)

1. one kind generates the method for the control function of the feed forward control steering swivel system that is used for power actuated vehicle for predefined goal behavior, it is characterized in that control function is described the deflection angle correction (δ as the function of two parameters Fc, δ Rc), wherein confirm deflection angle correction (δ based on the current behavior of vehicle and the predefined goal behavior of steady-state turn Fc, δ Rc), as the transverse acceleration (a that in the steady-state turn process, takes place y) and the function of the turning radius (R) that in the steady-state turn process, takes place, and will depend on transverse acceleration (a through mathematical modeling y) and the deflection angle correction of turning radius (R) convert into and depend on deflection angle (δ D) and longitudinal velocity (v x) deflection angle correction (δ Fc, δ Rc), deflection angle correction (δ then Fc, δ Rc) the formation control function.
2. method according to claim 1 is characterized in that, the deflection angle correction comprises at least one correction (δ of the deflection angle of front-wheel Fc).
3. method according to claim 1 and 2 is characterized in that, the deflection angle correction comprises at least one correction (δ of the deflection angle of trailing wheel Rc).
4. according to the described method of each claim in the claim 1 to 3, it is characterized in that, obtain mathematical modeling from auto model.
5. according to the described method of each claim in the claim 1 to 3, it is characterized in that, from the steady-state turn of power actuated vehicle, obtain mathematical modeling.
6. according to the described method of each claim in the claim 1 to 5, it is characterized in that, based on mathematical modeling with depend on transverse acceleration (a y) and the deflection angle correction of turning radius (R) produce equation system, said equation system separate the formation control function.
7. method according to claim 6 is characterized in that control function is provided by the explicit solution of equation system.
8. method according to claim 6 is characterized in that, control function is represented by the controller characteristic curve figure that obtains based on equation system.
9. according to the described method of aforementioned each claim, it is characterized in that goal behavior obtains from another power actuated vehicle.
10. a control method that is used for the feed forward control steering swivel system of power actuated vehicle is characterized in that, control method is used the control function that obtains according to the described method of each claim in the claim 1 to 9.
11. control system that is used for the steering swivel system of power actuated vehicle; It is characterized in that; Have the control unit (6) of the feed forward control steering hardware that is used for power actuated vehicle, control unit (6) is based on the control function that obtains according to the described method of each claim in the claim 1 to 9.
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