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
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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 invention relates to the field of automobile steer-by-wire, in particular to a steer-by-wire road feel device based on parameter estimation and a control method thereof.
Background
Steter-by-wire (SBW) represents the development direction of future power steering technologies. The system cancels the mechanical connection between a steering wheel and a steering wheel, transmits signals to an Electronic Control Unit (ECU) through a wire, and then the ECU sends instructions to control a steering execution assembly to complete the operation instruction of a driver, thereby realizing the driving intention of the driver. The SBW system cancels the mechanical connection between a steering wheel and a steering wheel, the motor drives the steering system to control the steering movement of the automobile, and the resistance moment of the steering wheel during steering is also generated by motor simulation. The SBW system completely gets rid of the limitation of mechanical connection of the traditional steering system, can freely design the angle transfer characteristic and the force transfer characteristic of the automobile steering system theoretically, brings wide space for the design of the automobile steering characteristic, and has wide application market and development prospect.
Since the steering system is not limited by mechanical connection, the steering wheel can be replaced by a control lever, a button, a switch and the like, so that the steering operation is simpler and more flexible, but the driving habit of a driver is required to be changed. In order to make driving more comfortable and flexible, the planning of road feel is introduced. The road feel refers to the steering resistance moment obtained by a driver through the feedback of a steering wheel in the driving process of the automobile, the moment contains the motion and stress state information of the whole automobile and tires, and the road feel plays an important role in mastering the motion state and the driving environment condition of the automobile by the driver. Good road feel is an indispensable part for ensuring the steering stability of the automobile. In the SBW system, the road feel fed back to the driver is generated by simulation of a road feel motor in the ECU-controlled steering wheel assembly. Therefore, when a road feel simulation control strategy is designed, the automobile driving state, the road adhesion condition and the like which can reflect the real road feel most can be extracted from various signals of the automobile to be used as road feel simulation control variables, and good road feel is provided for a driver.
The road feel problem of the steer-by-wire system is one of key technologies, and a large number of research results of many automobile enterprises and scientific research colleges at home and abroad basically meet the grasping degree of a driver on the steer-by-wire system to a certain extent, but all the research results have advantages and disadvantages, and not only a very accurate steer-by-wire system model and a powerful controller are needed, but also the research price of some methods is high, so that the requirements on the accuracy and the price of a sensor are high, the development period and the development cost are influenced to a certain extent, and the road feel problem also is one of key problems influencing the development and the application of the steer-by-wire system. In addition, various working conditions and driving states of the steer-by-wire system should be comprehensively researched, for example, a comprehensive analysis and research should be conducted on the middle position, the rudder protection and the resilience of a steering wheel of the steer-by-wire system, so that the special research on the aspect is less, and the improvement and the perfection are still required to be continuously carried out so as to meet the road feel requirement of the traditional steering system as soon as possible.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a steer-by-wire road feel device based on parameter estimation and a control method thereof.
The technical scheme is as follows: in order to achieve the purpose, the technical scheme adopted by the invention is a steer-by-wire road feel device based on parameter estimation, which comprises a steering wheel and wheels, and is characterized by comprising a sensor group connected with the steering wheel, a motor group, a controller and a steering structure;
the motor set comprises a road sensing motor and a steering motor, and the sensor set is sequentially connected with the road sensing motor, the clutch and the steering motor; the sensor group comprises a torque sensor and a rotation angle sensor;
the steering is realized by controlling a motor set by a controller, the steering wheel torque is generated by controlling a road sensing motor by the controller, and the steering motor is controlled to be connected by controlling a clutch by the controller; the steering motor is connected with a steering structure of the front wheel;
the system comprises a standby electric machine set controlled by a route sensing controller, wherein the standby electric machine set is connected with a front wheel steering structure through a clutch; and the motor set or the standby motor set operates in a working state.
A control method of a steer-by-wire road feel device based on parameter estimation comprises the following steps: the device is characterized by comprising a sensor group, wherein the sensor group comprises a wheel angular velocity sensor, a lateral acceleration sensor and a force sensor;
the sensor group collects vehicle information, the lateral acceleration sensor sends the collected information to the vehicle state estimation module, the Kalman filtering estimation method is used for estimating the vehicle information, and the estimated information is respectively sent to the fitting relation processing module, the slip ratio calculation module and the lateral force estimation module; the wheel angular velocity sensor sends acquired information to a slip rate calculation module; the force sensor sends information to a lateral force estimation module;
the wheel radius fitting module obtains some data through some test tests because the dynamic radius of the wheel is related to the parameters of the mass, the speed and the like of the whole automobile, and identifies the radius of the tire by using a least square method.
The output end of the fitting relation module is connected to a slip ratio calculation module, parameters obtained by a vehicle state estimation module, tire vertical force measured by a sensor and slip ratio obtained by calculation are sent to a lateral force estimation module, and the obtained lateral force is sent to an adhesion coefficient estimation module and a aligning moment calculation module; the adhesion coefficient estimated by the adhesion coefficient estimation module is fed back to the lateral force calculation module; the output end of the aligning moment calculation module is connected with a steering wheel moment module;
according to the current state of the vehicle, performing compensation calculation on the steering wheel torque, and accessing a compensation value into a steering wheel torque module;
the method comprises the following steps:
collecting vehicle running state parameters, wherein the running state parameters comprise vehicle speed, tire rotating speed, lateral acceleration and tire vertical load information;
estimating the state parameters by a vehicle state estimation module by adopting a Kalman filtering method to obtain estimated vehicle speed parameters, wherein the estimated vehicle speed parameters comprise lateral speed and longitudinal speed;
obtaining the actual tire radius by adopting a least square identification method according to the estimated lateral speed and the tire vertical load information;
transmitting the radius of the tire to a slip ratio calculation module, and combining the tire rotating speed obtained by a sensor group and the estimated longitudinal speed to obtain an influence factor of the longitudinal force of the tire on the lateral force;
transmitting the influence factors to a lateral force estimation module, and calculating to obtain aligning moment information so as to obtain steering wheel resisting moment feedback road surface information;
and correcting road feel through the estimated vehicle speed parameter, the gear ratio and the lateral acceleration.
The system further comprises a variable transmission ratio control module which carries out LQG/LTR feedforward compensation on the yaw rate of the automobile to obtain the actual variable transmission ratio and finds the compensation torque on line.
Has the advantages that: according to the steer-by-wire road feel device based on parameter estimation and the control method thereof, provided by the invention, in the vehicle steering process, on one hand, the transmission of road information can be ensured, the road feel is ensured to be real, meanwhile, the coordination and unification of the portability and the flexibility under the low-speed steering are ensured through the correction of the road feel, and the steering road feel and the stability are perfectly fused during the high-speed steering; on the other hand, when the steering fails, the steering working mode is switched through the control of the ECU, so that the basic steering function is guaranteed, and the steering system is reliable and safe.
Drawings
FIG. 1 is a schematic view of a steer-by-wire vehicle steering system according to the present invention
FIG. 2 is a schematic diagram of road feel planning according to the present invention
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, the technical solution adopted by the present invention is a steer-by-wire road feel device based on parameter estimation, comprising a steering wheel and wheels, characterized by comprising a sensor group connected with the steering wheel, a motor group, a controller and a steering structure;
the motor set comprises a road sensing motor and a steering motor, and the sensor set is sequentially connected with the road sensing motor, the clutch and the steering motor; the sensor group comprises a torque sensor and a rotation angle sensor;
the steering is realized by controlling a motor set by a controller, the steering wheel torque is generated by controlling a road sensing motor by the controller, and the steering motor is controlled to be connected by controlling a clutch by the controller; the steering motor is connected with a steering structure of the front wheel;
the system comprises a standby electric machine set controlled by a route sensing controller, wherein the standby electric machine set is connected with a front wheel steering structure through a clutch; and the motor set or the standby motor set operates in a working state.
A control method of a steer-by-wire road feel device based on parameter estimation comprises the following steps: the device is characterized by comprising a sensor group, wherein the sensor group comprises a wheel angular velocity sensor, a lateral acceleration sensor and a force sensor;
the sensor group collects vehicle information, the lateral acceleration sensor sends the collected information to the vehicle state estimation module, the Kalman filtering estimation method is used for estimating the vehicle information, and the estimated information is respectively sent to the fitting relation processing module, the slip ratio calculation module and the lateral force estimation module; the wheel angular velocity sensor sends acquired information to a slip rate calculation module; the force sensor sends information to a lateral force estimation module;
the wheel radius fitting module obtains some data through some test tests because the dynamic radius of the wheel is related to the parameters of the mass, the speed and the like of the whole automobile, and identifies the radius of the tire by using a least square method.
The output end of the fitting relation module is connected to a slip ratio calculation module, parameters obtained by a vehicle state estimation module, tire vertical force measured by a sensor and slip ratio obtained by calculation are sent to a lateral force estimation module, and the obtained lateral force is sent to an adhesion coefficient estimation module and a aligning moment calculation module; the adhesion coefficient estimated by the adhesion coefficient estimation module is fed back to the lateral force calculation module; the output end of the aligning moment calculation module is connected with a steering wheel moment module;
according to the current state of the vehicle, performing compensation calculation on the steering wheel torque, and accessing a compensation value into a steering wheel torque module;
the method comprises the following steps:
collecting vehicle running state parameters, wherein the running state parameters comprise vehicle speed, tire rotating speed, lateral acceleration and tire vertical load information;
estimating the state parameters by a vehicle state estimation module by adopting a Kalman filtering method to obtain estimated vehicle speed parameters, wherein the estimated vehicle speed parameters comprise lateral speed and longitudinal speed;
obtaining the actual tire radius by adopting a least square identification method according to the estimated lateral speed and the tire vertical load information;
transmitting the radius of the tire to a slip ratio calculation module, and combining the tire rotating speed obtained by a sensor group and the estimated longitudinal speed to obtain an influence factor of the longitudinal force of the tire on the lateral force;
transmitting the influence factors to a lateral force estimation module, and calculating to obtain aligning moment information so as to obtain steering wheel resisting moment feedback road surface information;
and correcting road feel through the estimated vehicle speed parameter, the gear ratio and the lateral acceleration.
The system further comprises a variable transmission ratio control module which carries out LQG/LTR feedforward compensation on the yaw rate of the automobile to obtain the actual variable transmission ratio and finds the compensation torque on line.
The power-assisted compensation module corrects the simulated road feel according to the automobile state, the automobile speed, the variable transmission ratio and the lateral acceleration.
The invention also provides a method for switching to the standby motor mode when the working state of the clutch is controlled by detecting signals by the ECU under the condition that the steer-by-wire system fails, so that the basic steering function is ensured, and the steering system is reliable and safe.
Example (b): in order to obtain a relatively real road feel, the magnitude of the lateral force and the magnitude of the lateral deflection angle are obtained by adopting a filtering estimation method, the magnitude of the aligning moment is obtained by calculation, and then compensation design is carried out on the basis of the aligning moment, so that a good and comfortable road feel is obtained.
The method comprises the following specific steps:
referring to the attached figure 1, the steering system of the wire-controlled automobile consists of a steering wheel (1), a road sensing motor, an ECU, a standby motor, a steering motor, clutches (2) and (3), a standby motor and wheels (4). When the ECU receives the error report, the clutch (2) is disconnected, the clutch (3) starts to work, the standby motor is started, and the basic steering function is ensured.
Referring to fig. 2, the road feel planning method includes the following steps:
the method comprises the following steps: estimating the state parameters of the automobile and calculating the aligning moment.
And transmitting the lateral acceleration and the front wheel rotation angle obtained by the sensor to an automobile running state estimation module, and estimating the yaw angular velocity, the mass center lateral deviation angle and the longitudinal speed of the automobile according to the whole automobile three-degree-of-freedom model. The specific estimation steps are as follows:
the three-degree-of-freedom model of the whole vehicle is as follows:
in the formula, m is the mass of the whole automobile; a and b are distances from the centroid to the front and rear axes respectively; k is a radical of1、k2Front and rear wheel cornering stiffness, respectively; v. ofxIs the longitudinal velocity at the centroid; a isxIs the longitudinal acceleration of the automobile, β is the centroid slip angle, omega is the yaw rate, the front wheel angle, IzThe moment of inertia of the whole vehicle; and u is the vehicle speed.
The measurement equation is as follows:
in the formula, ayIs the lateral acceleration of the automobile.
Gety(t)＝ayLinearizing the model
And (3) a filtering estimation algorithm:
and (3) state prediction:
state error covariance prediction 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)
measurement correction equation:
state error covariance correction equation:
P(t)＝(I-K(t)H(t))P(t)-(11)
where Φ (t) ═ I + f (t) × Δ t, where Δ t is taken to be 0.005 s; q is a covariance matrix of system excitation noise; r is the covariance matrix of the measured noise.
The lateral velocity obtained by the state estimator and the tire vertical load information measured by the sensor are then passed to the tire radius calculation module. Because the rolling radius of the wheel is related to parameters such as the mass and the speed of the whole automobile, some data can be obtained through some test tests, and then fitting is carried out
ΔR＝KzFz(1-Kvvx) (12)
R＝R0+ΔR (13)
In the formula, R0The radius of the tire is when no load and no speed exist; Δ R is tire to R0The amount of change in (c); kzIs a load influencing factor; kvIs a speed influencing factor; fzIs the vertical load size;
and transmitting the obtained actual tire radius to a slip ratio calculation module, and combining the tire rotating speed measured by the sensor and the estimated longitudinal speed to obtain the slip ratio at the moment. Slip ratio was calculated as follows:
in the formula, siRepresents the slip ratio; omegaiIs the wheel speed. According to the obtained slip ratio, estimating the influence factor K of the longitudinal force of the tire on the lateral forceL。
And transmitting the obtained parameters to a lateral force estimation module, estimating quasi-static lateral force values of the tire according to the collected tire vertical force values, and establishing a relation according to the dynamic lateral force and the quasi-static lateral force values of the tire. The specific lateral force estimation algorithm is as follows:
in the formula,is quasi-static force; fyIs the tire lateral force; kLThe influence factor is obtained by off-line test.
And quasi-static forceUsing a magic formula to obtain:
wherein:
in the formula, αf、αrIs the tire side deflection angle of the front and rear wheels; mu is the road surface adhesion coefficient; A. b is a constant and can be obtained by experimental fitting.
Sending the tire lateral force obtained by the experiment into a road adhesion estimation module, estimating the road adhesion coefficient by using currently known information, wherein the algorithm is as follows:
deriving the wheel slip angle from an automobile dynamic model:
and the estimation of the road adhesion coefficient is realized by adopting extended Kalman filtering.
Firstly, system parameters and measurement equations are established
In the formula, xs(t) is a state variable; x is the number ofp(t) is the parameter variable, w (t) is the process noise, v (t) is the measurement noise.
Parameter prediction:
φp(t) and PpAre all covariance matrices.
Gain equation:
measurement correction equation:
error covariance update equation:
φp(t)＝[I-Kp(t)Hp]φ- p(t) (23)
in the formula, Rp、HpAnd HsRespectively, a jacobian matrix of the partial derivatives of the measurement output to the parametric variables, and a jacobian matrix of the partial derivatives of the measurement output to the state variables.
In combination with the above equation, the state to be estimated and the parametric state are xs(t)＝[αf,αr]And xp(t)＝[μf,μr]。
Through the calculation, a more accurate road adhesion coefficient can be estimated. And feeding back the obtained real-time road adhesion coefficient to a lateral force estimator, so that the lateral force and the adhesion coefficient are estimated and corrected and updated at the moment.
And feeding back the obtained road adhesion coefficient to a lateral force estimation module, carrying out more accurate correction estimation on the estimation of the lateral force, and repeating the process.
Finally obtaining the aligning moment tauaThe size is as follows:
τa＝Fy(tm+tp) (24)
in the formula, tmIs the pneumatic tire drag distance, tpFor mechanical drag, it is generally assumed to be constant.
Step two: correction design of road feel
(1) And correcting the road feel according to the estimated vehicle speed:
Tp＝kp·(T-T0) (25)
wherein,
in the formula, TpAnd TpmaxRespectively is the power-assisted torque and the maximum power-assisted torque of the motor; t is0T and TmaxThe steering wheel torque at the time of starting power assistance, the steering wheel torque and the steering wheel torque at the time of maximum power assistance are respectively; t ispIs the vehicle speed inductance. (2) And (3) correcting road feel by changing the transmission ratio:
the change of the transmission ratio causes the same steering wheel rotating angle to be rotated, the front wheel rotating angle is different, and the road feel is corrected and compensated according to different variable transmission ratios by the following formula:
Ti＝-ki·T (27)
in the formula, TidealThe hand strength of the corresponding ideal driver under different vehicle speeds; t isiCompensating torque for a variable transmission ratio; k is a radical ofiAnd fitting to obtain.
And (3) variable transmission ratio control:
the non-linear two-degree-of-freedom vehicle model comprises:
in the formula, Ff、FrLongitudinal forces of front and rear wheels of the vehicle, FwFor sideways wind, IzIs the inertia of the automobile IwIs the distance from the lateral wind action point to the center of mass.
Rewriting equation (29) into a state space form:
wherein, x ═ ω β; y is ω; u [ ].
LQG/LTR control input is e- ωr-ω，ωrIs an ideal yaw rate.
The algorithm can control the interference, and after the actual yaw velocity value is obtained, the actual variable transmission ratio is obtained.
(3) Correction of lateral acceleration to road feel:
steering wheel torque gradient represents:
in the formula ItpA tire drag distance; lhpIs the pneumatic tyre drag distance; i.e. ikThe transmission ratio is changed; k is a compensation coefficient. If it is notThe driving information which can be perceived by the driver is too small, and the road feel is poor; if it is notIt is difficult for the driver to move the lane or to rapidly enter the lane [10 ]]. Thus, in ayIn the case of > 4g, the steering wheel torque gradient should approach 1.5.
The optimum compensation coefficient at high lateral acceleration is determined from equation (29).
Finally, the steering wheel torque is obtained, so that the driver can obtain good road feel.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (2)
1. A steer-by-wire road feel device based on parameter estimation comprises a steering wheel and wheels, and is characterized by comprising a sensor group connected with the steering wheel, a motor group, a controller and a steering structure;
the motor set comprises a road sensing motor and a steering motor, and the sensor set is sequentially connected with the road sensing motor, the clutch and the steering motor;
the steering is realized by controlling a motor set by a controller, the steering wheel torque is generated by controlling a road sensing motor by the controller, and the steering motor is controlled to be connected by controlling a clutch by the controller; the steering motor is connected with a steering structure of the front wheel;
the system comprises a standby electric machine set controlled by a route sensing controller, wherein the standby electric machine set is connected with a front wheel steering structure through a clutch; the motor set or the standby motor set operates in a working state;
the sensor group comprises a wheel angular velocity sensor, a lateral acceleration sensor and a force sensor;
the sensor group collects vehicle information, the lateral acceleration sensor sends the collected information to the vehicle state estimation module, the Kalman filtering estimation method is used for estimating the vehicle information, and the estimated information is respectively sent to the fitting relation processing module, the slip ratio calculation module and the lateral force estimation module; the wheel angular velocity sensor sends acquired information to a slip rate calculation module; the force sensor sends information to a lateral force estimation module;
the fitting relation processing module is used for identifying the radius of the tire by using a least square method;
the output end of the fitting relation processing module is connected to a slip ratio calculation module, parameters obtained by a vehicle state estimation module, tire vertical force measured by a sensor and slip ratio obtained by calculation are sent to a lateral force estimation module, and the obtained lateral force is sent to an adhesion coefficient estimation module and a aligning moment calculation module; the adhesion coefficient estimated by the adhesion coefficient estimation module is fed back to the lateral force calculation module; the output end of the aligning moment calculation module is connected with a steering wheel moment module;
according to the current state of the vehicle, performing compensation calculation on the steering wheel torque, and accessing a compensation value into a steering wheel torque module;
and a control method of the steer-by-wire road feel device based on parameter estimation:
collecting vehicle running state parameters, wherein the running state parameters comprise vehicle speed, tire rotating speed, lateral acceleration and tire vertical load information;
estimating the state parameters by a vehicle state estimation module by adopting a Kalman filtering method to obtain estimated vehicle speed parameters, wherein the estimated vehicle speed parameters comprise lateral speed and longitudinal speed;
obtaining the actual tire radius by adopting a least square identification method according to the estimated lateral speed and the tire vertical load information;
transmitting the radius of the tire to a slip ratio calculation module, and combining the tire rotating speed obtained by a sensor group and the estimated longitudinal speed to obtain an influence factor of the longitudinal force of the tire on the lateral force;
transmitting the influence factors to a lateral force estimation module, and calculating to obtain aligning moment information so as to obtain steering wheel resisting moment feedback road surface information;
and correcting road feel through the estimated vehicle speed parameter, the gear ratio and the lateral acceleration.
2. The steer-by-wire road feel device based on parameter estimation of claim 1: the system is characterized by comprising a variable transmission ratio control module, wherein the variable transmission ratio control module carries out LQG/LTR feedforward compensation on the yaw rate of the automobile to obtain an actual variable transmission ratio, and obtains a compensation torque on line.
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| 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 |
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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 |
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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 |