CN105083373B - A kind of steering-by-wire road feel device and its control method based on parameter Estimation - Google Patents
A kind of steering-by-wire road feel device and its control method based on parameter Estimation Download PDFInfo
- Publication number
- CN105083373B CN105083373B CN201510329873.1A CN201510329873A CN105083373B CN 105083373 B CN105083373 B CN 105083373B CN 201510329873 A CN201510329873 A CN 201510329873A CN 105083373 B CN105083373 B CN 105083373B
- Authority
- CN
- China
- Prior art keywords
- steering
- estimation
- module
- road feel
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000001133 acceleration Effects 0.000 claims abstract description 16
- 238000012545 processing Methods 0.000 claims description 5
- 241000208340 Araliaceae Species 0.000 claims description 3
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 3
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 235000008434 ginseng Nutrition 0.000 claims description 3
- 238000010977 unit operation Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 4
- 238000013461 design Methods 0.000 description 6
- 239000011159 matrix material Substances 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 238000012360 testing method Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000153246 Anteros Species 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000033772 system development Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of steering-by-wire road feel device and its control method based on parameter Estimation, including steering wheel, rotary angle transmitter, torque sensor, steering column, road feel motor and road feel controller for being connected with steering wheel etc., including a set of clutch, detect that current state goes wrong by controller, standby motor steering pattern is switched to by controlling clutch；The planing method measures signal by sensor, current vehicle condition variable is obtained by Kalman Filter Estimation, the motor turning moment of resistance is calculated, and steering response is compensated and corrected by speed, variable ratio and side acceleration, obtains current preferably hand-wheel torque value.The present invention can be by installing clutch, switching working mode additional, it is ensured that still ensures that normal turning function when line traffic control pattern breaks down, there is provided reliable road feel；Meanwhile under normally travel operating mode, driver can be caused to obtain good information of road surface, improve the maneuverability and comfortableness of automobile.
Description
Technical field
The present invention relates to automobile steering-by-wire field, and in particular to a kind of steering-by-wire road feel device based on parameter Estimation
And its control method.
Background technology
Steering-by-wire (steer-by-wire abbreviation SBW) represents the developing direction of following Power Steering of Car.The system takes
The mechanical connection to have disappeared between steering wheel and deflecting roller, signal is passed to by electronic control unit (Electronic by wire
Control Unit, ECU), then instruction control is sent by ECU and turns to the control command for performing assembly and completing driver, realization is driven
The driving intention for the person of sailing.SBW systems eliminate the mechanical connection between steering wheel and steered wheel, by motor-driven steering system
Steering wheel moment of resistance when controlling the divertical motion of automobile, while turning to also is produced by motor simulation.SBW systems are completely free of
Conventional steering system mechanics connection limitation, in theory can free design vehicle steering angle transmission characteristic and power transmission
Characteristic, wide space is brought for the design of motor turning characteristic, has a wide range of applications market and development prospect.
Due to the limitation in steering without mechanical connection, steering wheel can be by portions such as control stick, button and switches
Part replaces, and makes steering operation easier and flexible, but this is also required to driver and changes driving habit.In order that drive more
It is comfortable flexible, just introduce the planning of road feel.Road feel refers to that driver in vehicle traveling process is obtained by steering wheel feedback
Steering resisting moment, this torque contain motion and the stress information of vehicle and tire, and motor racing is grasped to driver
State and running environment situation play the role of important.Good road feel is to ensure the indispensable part of vehicle handling stability.
In SBW systems, the road feel for feeding back to driver is generated by the road feel motor simulation in ECU control direction disc assemblies.Cause
This, design road feel can extract the running car for being best able to reflect true road feel when simulating control strategy from the various signals of automobile
State and road surface attachment condition etc. provide good road feel for driver as road feel simulation control variable.
For the road feel problem of wire-controlled steering system as one of its key technology, many Automobile Enterprises both domestic and external, scientific research are high
The experimental results that school is carried out are substantially meeting assurance degree of the driver to steering to a certain degree, but respectively have excellent
Shortcoming, it not only needs point-device steering model and powerful controller, and the research valency of some methods
Lattice costliness requires higher to the accuracy and price of sensor, have impact on cycle and the cost of exploitation to a certain extent, this
It is one of key issue for influenceing wire-controlled steering system development and application.In addition for the various operating modes and row of wire-controlled steering system
Comprehensive research should all be had by sailing state, such as the steering wheel centre position to wire-controlled steering system, guarantor's rudder and returnability should
There are a comprehensive analysis and research, specializing in this respect is less, and we still need to be continually improved and improved with as early as possible
Adapt to the road feel requirement of conventional steering system.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides a kind of line based on parameter Estimation
Steering response device and its control method are controlled, by parameter Estimation, side force and side drift angle are obtained using the method for filtering estimation
Size, the size of aligning torque is calculated, compensates design on this basis, solves problem of the prior art.
Technical scheme：To achieve the above object, the technical solution adopted by the present invention is a kind of line traffic control based on parameter Estimation
Steering response device, including steering wheel and wheel, it is characterised in that including the sensor group being connected with steering wheel, and motor
Group, controller and steering structure；
The group of motors includes road feel motor and steering motor, and the sensor group is sequentially connected road feel motor, clutch
And steering motor；Sensor group includes torque sensor and rotary angle transmitter；
Turn to and realized by controller controlled motor group, steering wheel torque controls road feel motor to produce by controller, passes through control
Device control clutch control steering motor connection processed；The steering structure of the steering motor connection front-wheel；
Including the standby group of motors controlled by road feel controller, the standby group of motors connects front-wheel steer by clutch
Structure；Group of motors or the standby electricity unit operation under working condition.
A kind of steering-by-wire road feel apparatus control method based on parameter Estimation：It is characterised in that it includes sensor group, is passed
Sensor group includes angular speed of wheel sensor, lateral acceleration sensor and force snesor；
The information of collection is sent into vehicle-state by the sensor group collection vehicle information, the lateral acceleration sensor
Estimation module, is estimated information of vehicles using Kalman Filter Estimation method, and estimated information is respectively fed into fit correlation
Processing module, slip rate computing module and side force estimation module；The angular speed of wheel sensor will gather information and be sent into cunning
Shifting rate computing module；Information is sent into side force estimation module by the force snesor；
Radius of wheel fitting module, due to the relating to parameters such as wheel Dynamic Radius and vehicle complete vehicle quality, speed, pass through one
A little experimental tests obtain some data, and tire radius are recognized using least square method.
The fit correlation module output end accesses slip rate computing module, the ginseng that vehicle state estimation module is obtained
Number, the vertical force of tire that sensor measures and the slip rate feeding side force estimation module being calculated, obtained side force are sent
Enter attachment coefficient estimation module and aligning torque computing module；The attachment coefficient that attachment coefficient estimation module is estimated to obtain feeds back to
Side force computing module；The output end access steering wheel torque module of aligning torque computing module；
According to vehicle's current condition, calculating is compensated to steering wheel torque, offset is accessed into steering wheel torque module；
This method comprises the following steps：
Collection vehicle running state parameter, the running state parameter include speed, tire rotational speed, side acceleration and tire
Vertical load information；
The state parameter is estimated using kalman filter method by vehicle state estimation module, after obtaining estimation
Speed parameter, the speed parameter after the estimation includes side velocity and longitudinal velocity；
By the side velocity after estimation and the tire vertical load information, obtained using linear least squares method method real
Border tire radius；
The tire radius are transferred to slip rate computing module, after the tire rotational speed obtained with reference to sensor group and estimation
Longitudinal velocity, obtain factor to affect of the longitudinal force to side force of tire；
The factor to affect is transferred to side force estimation module, aligning torque information is calculated, the side obtained from
Information of road surface is fed back to the disk moment of resistance；
Accelerate by the speed parameter after the estimation, gearratio and laterally to be modified road feel.
Further, including variable ratio control module, the module carry out LQG/LTR feedforwards to automobile yaw velocity and mended
Repay to obtain actual variable ratio, ask for compensating torque online.
Beneficial effect：A kind of steering-by-wire road feel device and its control method based on parameter Estimation provided by the invention exist
It during Vehicular turn, on the one hand can both ensure the transmission of information of road surface, and ensure that road feel was true, while by being repaiied to road feel
Just, ensure that steering response is melted with stability perfection in the downward portability of low speed rotation and the flexibility coordinating and unifying, high speed steering
Close；On the other hand, when turning to failure, controlled by ECU, switching turns to mode of operation, has ensured basic steering work(
Can, it is reliable and secure.
Brief description of the drawings
Fig. 1 is line traffic control automobile steering system schematic diagram in the present invention
Fig. 2 is that road feel of the present invention plans schematic diagram
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
As shown in figure 1, the technical solution adopted by the present invention is a kind of steering-by-wire road feel device based on parameter Estimation, bag
Include steering wheel and wheel, it is characterised in that including the sensor group being connected with steering wheel, and group of motors, controller and steering
Structure；
The group of motors includes road feel motor and steering motor, and the sensor group is sequentially connected road feel motor, clutch
And steering motor；Sensor group includes torque sensor and rotary angle transmitter；
Turn to and realized by controller controlled motor group, steering wheel torque controls road feel motor to produce by controller, passes through control
Device control clutch control steering motor connection processed；The steering structure of the steering motor connection front-wheel；
Including the standby group of motors controlled by road feel controller, the standby group of motors connects front-wheel steer by clutch
Structure；Group of motors or the standby electricity unit operation under working condition.
A kind of steering-by-wire road feel apparatus control method based on parameter Estimation：It is characterised in that it includes sensor group, is passed
Sensor group includes angular speed of wheel sensor, lateral acceleration sensor and force snesor；
The information of collection is sent into vehicle-state by the sensor group collection vehicle information, the lateral acceleration sensor
Estimation module, is estimated information of vehicles using Kalman Filter Estimation method, and estimated information is respectively fed into fit correlation
Processing module, slip rate computing module and side force estimation module；The angular speed of wheel sensor will gather information and be sent into cunning
Shifting rate computing module；Information is sent into side force estimation module by the force snesor；
Radius of wheel fitting module, due to the relating to parameters such as wheel Dynamic Radius and vehicle complete vehicle quality, speed, pass through one
A little experimental tests obtain some data, and tire radius are recognized using least square method.
The fit correlation module output end accesses slip rate computing module, the ginseng that vehicle state estimation module is obtained
Number, the vertical force of tire that sensor measures and the slip rate feeding side force estimation module being calculated, obtained side force are sent
Enter attachment coefficient estimation module and aligning torque computing module；The attachment coefficient that attachment coefficient estimation module is estimated to obtain feeds back to
Side force computing module；The output end access steering wheel torque module of aligning torque computing module；
According to vehicle's current condition, calculating is compensated to steering wheel torque, offset is accessed into steering wheel torque module；
This method comprises the following steps：
Collection vehicle running state parameter, the running state parameter include speed, tire rotational speed, side acceleration and tire
Vertical load information；
The state parameter is estimated using kalman filter method by vehicle state estimation module, after obtaining estimation
Speed parameter, the speed parameter after the estimation includes side velocity and longitudinal velocity；
By the side velocity after estimation and the tire vertical load information, obtained using linear least squares method method real
Border tire radius；
The tire radius are transferred to slip rate computing module, after the tire rotational speed obtained with reference to sensor group and estimation
Longitudinal velocity, obtain factor to affect of the longitudinal force to side force of tire；
The factor to affect is transferred to side force estimation module, aligning torque information is calculated, the side obtained from
Information of road surface is fed back to the disk moment of resistance；
Accelerate by the speed parameter after the estimation, gearratio and laterally to be modified road feel.
Further, including variable ratio control module, the module carry out LQG/LTR feedforwards to automobile yaw velocity and mended
Repay to obtain actual variable ratio, ask for compensating torque online.
Power-assisted compensating module is that the road feel of simulation is repaiied according to vehicle condition speed, variable ratio and side acceleration
Just.
Present invention also offers one kind when wire-controlled steering system break down in the case of, by ECU detection signals, and control from
The working condition of clutch, during failure, standby motor mode is switched to, has ensured basic turning function, it is reliable and secure.
Embodiment：In order to obtain more real road feel, using the method acquisition side force and side drift angle for filtering estimation
Size, the size of aligning torque is calculated, then compensates design on its basis, obtain good comfortable road feel.
Specific steps include：
Referring to the drawings shown in 1, the steering of line traffic control automobile by steering wheel (1), road feel motor, ECU, standby motor, turn
Formed to motor, clutch (2) (3), standby motor and wheel (4).When ECU receives to report an error, clutch (2) disconnects, clutch
Device (3) is started working, and is started standby motor, is ensured basic turning function.
Referring to the drawings 2, specific steps include for road feel planning：
Step 1：The calculating of estimation and aligning torque to vehicle condition parameter.
The side acceleration and front wheel angle that are obtained by sensor are passed into motoring condition estimation module, according to whole
Car Three Degree Of Freedom model, automobile yaw velocity, side slip angle and longitudinal speed are estimated.Specific estimating step is such as
Under：
Vehicle Three Degree Of Freedom model：
In formula, m is vehicle complete vehicle quality；A, b are respectively distance of the barycenter to antero posterior axis；k1、k2Respectively front and back wheel lateral deviation
Rigidity；vxFor longitudinal velocity at barycenter；axFor automobile longitudinal acceleration；β is side slip angle；ω is yaw velocity；Before δ is
Take turns corner；IzFor the rotary inertia of vehicle；U is speed.
Measurement equation：
In formula, ayFor automobile side angle acceleration.
TakeY (t)=ay, by model linearization
Filter algorithm for estimating：
Status predication：
State error covariance predictive equation：
P-(t+1)=φ (t) P (t) φ (t)T+Q (8)
Gain equation：
K (t)=P (t)-H(t)T[H(t)P(t)-H(t)T+R]-1 (9)
Measure correction equation：
State error covariance correction equation：
P (t)=(I-K (t) H (t)) P (t)- (11)
Wherein, φ (t)=I+F (t) * Δ t, herein Δ t take 0.005s；Q is the covariance matrix of system incentive noise；
R is the covariance matrix for measuring noise.
Afterwards, by the side velocity obtained by state estimator and the tire vertical load information transmission measured by sensor
Give tire radius computing module.Due to the relating to parameters such as vehicle wheel roll radius and vehicle complete vehicle quality, speed, can pass through
Experimental test obtains some data, and then is fitted
Δ R=KzFz(1-Kvvx) (12)
R=R0+ΔR (13)
In formula, R0Tire radius during for no-load without speed；Δ R is tire relative to R0Variable quantity；KzFor loading effect
Factor；KvFor speed influence factor；FzFor vertical load size；
Obtained actual tire radius are passed into slip rate computing module, the tire rotational speed that is measured with reference to sensor and
Obtained longitudinal velocity is estimated, so as to obtain the size of slip rate this moment.Slip rate is calculated as follows：
In formula, siRepresent slip rate；ωiFor vehicle wheel rotational speed.According to obtained slip rate, the longitudinal force pair of tire is estimated
The factor to affect K of side forceL。
Obtained parameter is passed into side force estimation module, according to collection vertical force of tire value, estimates the accurate quiet of tire
The lateral force value of state, further according to dynamic lateral power and the lateral force value opening relationships of quasistatic of tire.Specific side force algorithm for estimating
It is as follows：
In formula,For quasi-static force；FyFor side force of tire；KLFor factor to affect, obtained by off-line testing.
And quasi-static forceObtained using magic formula：
Wherein：
In formula, αf、αrFor front and back wheel slip angle of tire；μ is coefficient of road adhesion；A, B is constant, can be intended by testing
Conjunction obtains.
The side force of tire that acquires will be tested and be sent into road surface attachment estimation module, using currently known each information,
Road pavement attachment coefficient is estimated that algorithm is as follows：
By Vehicle dynamics, to tyre slip angle derivation：
The estimation of road pavement attachment coefficient is realized using EKF.
First, systematic parameter and measurement equation are established
In formula, xs(t) it is state variable；xp(t) it is parametric variable, w (t) is process noise, and v (t) is to measure noise.
Parameter prediction：
φpAnd P (t)pIt is covariance matrix.
Gain equation：
Measure update equation：
Error covariance renewal equation：
φp(t)=[I-Kp(t)Hp]φ- p(t) (23)
In formula, Rp、HpAnd HsRespectively measurement noise covariance, measurement output are to the Jacobi of the partial derivative of parametric variable
Matrix and measurement export the Jacobian matrix to the partial derivative of state variable.
With reference to equation above, state to be estimated and parameter state are xs(t)=[αf,αr] and xp(t)=[μf,μr]。
By above-mentioned calculating, can estimate to obtain accurate coefficient of road adhesion.Obtained real-time road surface is adhered to again
Coefficient feedback gives side force estimator, so as to which the now estimation to side force and attachment coefficient all will be corrected and updated.
Obtained coefficient of road adhesion is fed back into side force estimation module, the estimation to side force is more accurately repaiied
Positive estimation, repeats this process.
Finally give aligning torque τaSize is：
τa=Fy(tm+tp) (24)
In formula, tmFor pneumatic trail, tpFor mechanical drag, definite value is typically taken as.
Step 2：The amendment design of road feel
(1) according to the speed size obtained by estimation, road feel is modified：
Tp=kp·(T-T0) (25)
Wherein,
In formula, TpAnd TpmaxThe respectively power torque of motor and maximum power torque；T0, T and TmaxRespectively start to help
Steering-wheel torque when steering-wheel torque during power, steering-wheel torque and maximum power-assisted；TpFor speed induction coefficient.(2) become and pass
The dynamic amendment for comparing road feel：
The change of gearratio, cause to rotate identical steering wheel angle, front wheel angle is different, according to different variable ratios
Compensation formula is modified to road feel：
Ti=-ki·T (27)
In formula, TidealFor corresponding preferable driver's hand-power under different speeds；TiTorque is compensated for variable ratio；kiFitting
Obtain.
Variable ratio controls：
Non-linear two degrees of freedom whole vehicle model：
In formula, Ff、FrRespectively automobile front and back wheel longitudinal force, FwFor lateral wind, IzFor automobile inertia, IwFor Lateral Wind
Distance of the point to barycenter.
(29) formula is rewritten into state space form：
Wherein, x=[ω β]；Y=ω；U=[δ].
LQG/LTR control inputs are e=ωr- ω, ωrFor preferable yaw velocity.
The algorithm can be controlled to interference, after obtaining actual yaw velocity value, ask for actual variable ratio size.
(3) amendment of the side acceleration to road feel：
Hand-wheel torque gradient represents：
In formula, ltpFor pneumatic trail；lhpFor pneumatic trail；ikFor variable ratio；K is penalty coefficient.If
The driving information that so driver can perceive is too small, and road feel is bad；IfSo driver is moving line or quickly sailed
Enter [10] relatively difficult during track.Therefore, in ayHand-wheel torque gradient should be made in the case of >=4g close to 1.5.
The optimal compensation coefficient in high side acceleration is obtained according to (29) formula.
Steering wheel torque is finally given, driver is obtained good road feel.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (2)
1. a kind of steering-by-wire road feel device based on parameter Estimation, including steering wheel and wheel, it is characterised in that including with side
The sensor group connected to disk, and group of motors, controller and steering structure；
The group of motors includes road feel motor and steering motor, and the sensor group is sequentially connected road feel motor, clutch and turned
To motor；
Turn to and realized by controller controlled motor group, steering wheel torque controls road feel motor to produce by controller, passes through controller
Control the connection of clutch control steering motor；The steering structure of the steering motor connection front-wheel；
Including the standby group of motors controlled by road feel controller, the standby group of motors connects front-wheel steer knot by clutch
Structure；Group of motors or the standby electricity unit operation under working condition；
Including sensor group, sensor group includes angular speed of wheel sensor, lateral acceleration sensor and force snesor；
The information of collection is sent into vehicle state estimation by the sensor group collection vehicle information, the lateral acceleration sensor
Module, information of vehicles is estimated using Kalman Filter Estimation method, estimated information is respectively fed to fit correlation processing
Module, slip rate computing module and side force estimation module；The angular speed of wheel sensor will gather information and be sent into slip rate
Computing module；Information is sent into side force estimation module by the force snesor；
Fit correlation processing module, tire radius are recognized using least square method；
The fit correlation processing module output end accesses slip rate computing module, the ginseng that vehicle state estimation module is obtained
Number, the vertical force of tire that sensor measures and the slip rate feeding side force estimation module being calculated, obtained side force are sent
Enter attachment coefficient estimation module and aligning torque computing module；The attachment coefficient that attachment coefficient estimation module is estimated to obtain feeds back to
Side force computing module；The output end access steering wheel torque module of aligning torque computing module；
According to vehicle's current condition, calculating is compensated to steering wheel torque, offset is accessed into steering wheel torque module；
A kind of and control method of the steering-by-wire road feel device based on parameter Estimation：
Collection vehicle running state parameter, it is vertical that the running state parameter includes speed, tire rotational speed, side acceleration and tire
Load information；
The state parameter is estimated using kalman filter method by vehicle state estimation module, the car after being estimated
Fast parameter, the speed parameter after the estimation include side velocity and longitudinal velocity；
By the side velocity after estimation and the tire vertical load information, actual wheel is obtained using linear least squares method method
Tire radius；
The tire radius are transferred to slip rate computing module, the longitudinal direction after the tire rotational speed obtained with reference to sensor group and estimation
Speed, obtain factor to affect of the longitudinal force to side force of tire；
The factor to affect is transferred to side force estimation module, aligning torque information is calculated, the steering wheel obtained from
The moment of resistance feeds back information of road surface；
Accelerate by the speed parameter after the estimation, gearratio and laterally to be modified road feel.
A kind of 2. steering-by-wire road feel device based on parameter Estimation as claimed in claim 1：Passed it is characterised in that it includes becoming
It is dynamic automobile yaw velocity progress LQG/LTR feedforward compensations to be obtained actual than control module, the variable ratio control module
Variable ratio, ask for compensating torque online.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510329873.1A CN105083373B (en) | 2015-06-15 | 2015-06-15 | A kind of steering-by-wire road feel device and its control method based on parameter Estimation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510329873.1A CN105083373B (en) | 2015-06-15 | 2015-06-15 | A kind of steering-by-wire road feel device and its control method based on parameter Estimation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105083373A CN105083373A (en) | 2015-11-25 |
| CN105083373B true CN105083373B (en) | 2017-11-28 |
Family
ID=54564924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510329873.1A Active CN105083373B (en) | 2015-06-15 | 2015-06-15 | A kind of steering-by-wire road feel device and its control method based on parameter Estimation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105083373B (en) |
Families Citing this family (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015122253A1 (en) * | 2015-12-18 | 2017-06-22 | Robert Bosch Automotive Steering Gmbh | METHOD FOR MONITORING THE CONDITION OF AN ELECTRONIC POWER STEERING DEVICE OR AT LEAST ONE COMPONENT OF THE ELECTRONIC POWER STEERING DEVICE OF A MOTOR VEHICLE |
| CN105667520B (en) * | 2016-02-26 | 2018-01-16 | 江苏大学 | A kind of front-wheel side force method of estimation of distributed driving electric car |
| CN105711594B (en) * | 2016-03-10 | 2017-12-19 | 清华大学 | Coefficient of road adhesion method of estimation based on steering resonant frequency |
| GB201609872D0 (en) * | 2016-06-06 | 2016-07-20 | Trw Ltd | Quadrant dependent damping |
| CN106184350B (en) * | 2016-07-08 | 2018-11-09 | 南京航空航天大学 | A kind of four-wheel steering system and steering pattern control method of multi-mode |
| CN106650198A (en) * | 2016-08-31 | 2017-05-10 | 株洲中车时代电气股份有限公司 | Rail transit vehicle velocity calculating method and system based on information fusion |
| DE102017122169B4 (en) * | 2016-09-28 | 2024-03-21 | Steering Solutions Ip Holding Corporation | Estimating a payload using electric power steering signals |
| CN106706345A (en) * | 2016-11-25 | 2017-05-24 | 合肥工业大学 | Steering-by-wire system road feeling analog hardware-in-the-loop simulation platform and simulation method |
| CN107010104B (en) * | 2017-03-09 | 2020-04-10 | 合肥工业大学 | Extension-based sliding mode line control vehicle driving stability control method and system |
| CN107140012B (en) * | 2017-05-10 | 2023-04-04 | 南京航空航天大学 | Steer-by-wire system based on Kalman filter capable of restraining divergence and control method |
| CN107054454B (en) * | 2017-05-10 | 2023-04-18 | 南京航空航天大学 | Parameter estimation-based steer-by-wire control system and control method |
| CN107600171B (en) * | 2017-08-08 | 2020-12-01 | 清华大学 | Steering method of wheel edge/hub driven multi-shaft vehicle |
| CN108891478B (en) * | 2018-04-02 | 2019-08-20 | 中国科学院电工研究所 | A kind of steering-by-wire controller and control method with multi-mode |
| CN108909828B (en) * | 2018-05-30 | 2023-06-09 | 南京航空航天大学 | Drive-by-wire steering and braking system and control method thereof |
| DE102018119268B4 (en) | 2018-08-08 | 2020-11-05 | Thyssenkrupp Ag | Rack force optimized steering feel of a steer-by-wire motor vehicle steering system |
| CN109664939B (en) * | 2019-01-08 | 2023-05-12 | 南京航空航天大学 | Drive-by-wire steering system and control method thereof |
| CN109795327A (en) * | 2019-02-27 | 2019-05-24 | 浙江万达汽车方向机股份有限公司 | New energy automobile driving, braking and steering integrated system and method thereof |
| CN110095801B (en) * | 2019-04-10 | 2020-11-27 | 同济大学 | Multi-model tire radius self-adaption method and system considering vehicle wheel acceleration |
| CN110058532B (en) * | 2019-04-23 | 2021-12-10 | 合肥工业大学 | Intelligent automobile chassis longitudinal and transverse integrated control experiment platform and experiment method thereof |
| CN110606121B (en) * | 2019-08-28 | 2021-02-19 | 中国第一汽车股份有限公司 | Drive-by-wire steering road feel simulation control method |
| CN111645699B (en) * | 2020-06-10 | 2021-08-31 | 北京理工大学 | Model self-adaptive lateral speed estimation method based on multi-sensor information fusion |
| CN114074705B (en) * | 2020-08-11 | 2023-01-20 | 长城汽车股份有限公司 | Power steering control method and device and vehicle |
| CN112572602B (en) * | 2020-12-24 | 2022-03-29 | 上海汽车工业(集团)总公司 | SBW end locking position variable control method, controller and storage medium |
| CN112937587A (en) * | 2021-02-26 | 2021-06-11 | 南京经纬达汽车科技有限公司 | Road feel simulation method based on K-Medoids and classification regression tree |
| CN113232722B (en) * | 2021-05-31 | 2022-08-16 | 淄博职业学院 | Control method and control system of wire-controlled steering system and motor vehicle |
| CN113954956A (en) * | 2021-11-19 | 2022-01-21 | 扬州动源车用泵业有限公司 | Wire-controlled active four-wheel steering control device and control method and control mode thereof |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3740785B2 (en) * | 1997-04-28 | 2006-02-01 | 日産自動車株式会社 | Automatic steering device |
| CN101596915B (en) * | 2009-07-10 | 2011-01-26 | 奇瑞汽车股份有限公司 | Linear control based automobile steering system |
| CN103754256B (en) * | 2014-01-24 | 2016-01-06 | 中国石油大学(华东) | A kind of have adjustable the electronlmobil steering swivel system and the control method that turn to pattern |
| CN103909933B (en) * | 2014-03-27 | 2016-04-06 | 清华大学 | A kind of front wheel side of distributed electro-motive vehicle is to force evaluating method |
-
2015
- 2015-06-15 CN CN201510329873.1A patent/CN105083373B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105083373A (en) | 2015-11-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105083373B (en) | A kind of steering-by-wire road feel device and its control method based on parameter Estimation | |
| CN109808764B (en) | Wire control steering device with redundancy function and control method | |
| CN109664938B (en) | Drive-by-wire steering double-motor system based on driver behavior identification and yaw stability compensation strategy thereof | |
| CN104002860B (en) | Electric power steering apparatus | |
| CN109911004B (en) | Aligning control method and device of electric power steering device | |
| US7885742B2 (en) | Steering device of vehicle | |
| CN107140012A (en) | A kind of wire-controlled steering system and control method based on the Kalman filter that can suppress diverging | |
| CN102869556B (en) | Apparatus for improving steering sensitivity of vehicle | |
| CN106915385A (en) | A kind of line traffic control differential steering system and method for distributed-driving electric automobile | |
| KR102286847B1 (en) | System and method for estimating steering torque | |
| CN110606121A (en) | Drive-by-wire steering road feel simulation control method | |
| CN107207043A (en) | Electric power-assisted steering apparatus | |
| CN110316247B (en) | Electric power differential compensation steering control method for four-wheel independent drive electric automobile | |
| CN107207044A (en) | Electric power-assisted steering apparatus | |
| US20100017064A1 (en) | Method for tuning electric power steering apparatus | |
| CN104163198A (en) | Electric power steering system | |
| CN105015363A (en) | Distributed driving automobile control system based on hierarchical coordination and distributed driving automobile control method based on hierarchical coordination | |
| CN104802848A (en) | Electric power steering control device | |
| CN105774902A (en) | Automobile power steering control device with fault-tolerant function and control method | |
| CN100460261C (en) | Vehicle steering apparatus and vehicle steering method | |
| CN104661896A (en) | Electric power steering device | |
| CN106660579A (en) | Steering control device, steering control system, steering control method, and steering control program | |
| CN107207042A (en) | Electric power-assisted steering apparatus | |
| CN112977602A (en) | Dual-motor steer-by-wire system and hybrid robust stability control method thereof | |
| CN107839749A (en) | Electric wheel truck steering response and whole vehicle stability control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Yudaojie Nanjing 210016 Jiangsu province No. 29 Co-patentee after: Zhejiang Wanda Automobile Direction Machine Co., Ltd. Patentee after: Nanjing University of Aeronautics and Astronautics Address before: Yudaojie Nanjing 210016 Jiangsu province No. 29 Co-patentee before: Zhejiang Wanda Steering Gear Co., Ltd. Patentee before: Nanjing University of Aeronautics and Astronautics |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Yudaojie Nanjing 210016 Jiangsu province No. 29 Patentee after: Nanjing University of Aeronautics and Astronautics Patentee after: Zhejiang Wanda automobile steering machine Co., Ltd. Address before: Yudaojie Nanjing 210016 Jiangsu province No. 29 Patentee before: Nanjing University of Aeronautics and Astronautics Patentee before: Zhejiang Wanda automobile steering gear Co., Ltd |