CN105241678B - A kind of rapid control prototyping implementation method of active rear steer - Google Patents
A kind of rapid control prototyping implementation method of active rear steer Download PDFInfo
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- CN105241678B CN105241678B CN201510781869.9A CN201510781869A CN105241678B CN 105241678 B CN105241678 B CN 105241678B CN 201510781869 A CN201510781869 A CN 201510781869A CN 105241678 B CN105241678 B CN 105241678B
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Abstract
A kind of rapid control prototyping implementation method of active rear steer, belongs to steering control system field.It is characterized in that, including steering wheel angle sensor, wheel speed sensors, yaw-rate sensor, longitudinal acceleration sensor, industrial computer, terminal board, display and steering motor, according to the trailing wheel active steering rapid control prototyping of foundation, gather in real time and output data, realize the control of trailing wheel active steering, the correctness of access control algorithm, realizes the quick exploitation of controller, reduces development cost, rate and shortens the construction cycle, improves exploitation effect.The present invention is applied to trailing wheel using on the electric automobile of In-wheel motor driving, the steering stability of vehicle can be improved, improve the dynamic property of Vehicular system, and the control stability of vehicle can be ensured under front-wheel steer failure conditions, in addition, by controlling the rotating speed of wheel hub motor to realize the assisted diversion of trailing wheel.
Description
Technical field
The present invention relates to a kind of rapid control prototyping implementation method of active rear steer, belong to steering control system commander
Domain.
Background technology
With the development of Hyundai Motor technology, increasing automobile comes into family, and frequent accidents occur, people couple
The requirement of the handling maneuver performance and riding stability of automobile is increasingly improved.The quality of automobile steering system directly affects automobile
Control stability, how to design efficient steering and be increasingly becoming one of automotive research and the focus of design.After active
Steering is taken turns relative to traditional nose wheel steering, the mobility and high speed when automobile low speed is turned to can be effectively improved
Control stability during steering, improves the dynamic property of vehicle.
At present, to active rear steer systematic research typically by the way of numerical simulation, bench test, sample car experiment
Carry out, the construction cycle is long, cost is high.With embedded computer technology, the development of real-time simulation, rapid control prototyping technology is obtained
Fast development is arrived.Rapid control prototyping is the initial stage in system development, by rapidly setting up control object and control
The model of device, and the feasibility that offline and online test carrys out access control scheme is carried out repeatedly to whole system, it is implemented in production
Between the algorithm design phase and the stage of implementing of product research and development.
Realize the quick exploitation of active rear steer, it is desirable to integrated good, easy to use modeling and design, from
Line emulation, in real time exploitation and testing tool.Rapid control prototyping is exactly that the algorithm for being developed engineer using certain means is downloaded
Into some computer hardware platforms, the computer hardware platforms run analog controller under real-time conditions, pass through actual I/O
Equipment and controlled device material object are connected, the reliability of verification algorithm and the degree of accuracy, can by algorithm development it is wrong and improper it
Place was eliminated design initial stage, is not only increased research and development speed, is also reduced R＆D costs.
The content of the invention
Various aspects of the invention are directed to providing a kind of rapid control prototyping implementation method of active rear steer, are applicable
In analog control system software, debugging Product-level system, the exploitation for the trailing wheel active steering controller that is particularly suitable for use in.
A kind of quick control device of active rear steer, it is characterised in that including trailing wheel active front steering system, industrial computer
(14), terminal board (15), display (16)；The trailing wheel active front steering system includes steering wheel (1), steering spindle (2), preceding
Rotate to executing agency (3), rear-axle steering executing agency (4), rear-axle steering motor (5), wheel hub motor (6), steering wheel angle
Sensor (7), yaw-rate sensor (8), lateral acceleration sensor (9), rear-axle steering displacement motor sensor (10),
Wheel speed sensors (11), rear-axle steering electric machine controller (12), hub motor control device (13)；Steering wheel angle sensor (7),
Yaw-rate sensor (8), lateral acceleration sensor (9), rear-axle steering displacement motor sensor (10), wheel speed sensors
(11), rear-axle steering electric machine controller (12), hub motor control device (13) are connected by signal wire with terminal board (15),
For the input and output of signal, rear-axle steering motor (5) is connected with rear-axle steering executing agency (4), rear-axle steering motor (5)
It is connected by signal wire with rear-axle steering electric machine controller (12), hub motor control device (13) passes through signal wire and wheel hub motor
(6) connect, the display (16) is connected with industrial computer (14) by Serial Port Line, serial communication is realized, for showing industrial computer
The result of operation, industrial computer (14) is connected with terminal board (15) by Serial Port Line, embedded data capture card in its expansion slot
(21)。
A kind of rapid control prototyping implementation method of active rear steer, it is characterised in that：Steering wheel angle sensor (7)
Steering wheel angle δ is gathered, and then is converted into front wheel angle δf, rear-axle steering displacement motor sensor (10) collection trailing wheel corner δr,
Wheel speed sensors (11) gather the wheel speed of wheel, and current speed u is obtained through converting, pilot control steering wheel (1), according to
δf, δrWhether change switches steering pattern：Work as δfDo not change, nose wheel steering failure, i.e. front wheel angle are in a non-zero-turn
It is rear-axle steering pattern under the operating mode at angle, being calculated with vehicle transverse movement control currently makes vehicle operate in preferable track
Upper required trailing wheel corner, performance model predictive control theory tracking trailing wheel corner, minimizes error, to ensure traveling extremely
Required path stops to the place of a safety；Work as δf, δrIt is active rear-axle steering pattern when changing, according to
δf, δr, u calculates preferable yaw velocity ωr, the actual yaw velocity ω of yaw-rate sensor (8) collection, profit
With difference DELTA ω (Δ ω=ω-ω of the robust control theory to yaw velocityr) be controlled, export an additional trailing wheel
Corner δsrAutomobile is fed back to, so as to realize the control to trailing wheel active steering automobile yaw velocity.
1st, the present invention is used applied to trailing wheel on the electric automobile of In-wheel motor driving, it is possible to increase the stable direction of vehicle
Property, improve the dynamic property of Vehicular system, and the control stability of vehicle can be ensured under front-wheel steer failure conditions.
2nd, the present invention can fast verification active rear steer control algolithm with strategy correctness and feasibility, can make
Mistake and the defect of design are solved before product development, are reduced development cost, are improved development efficiency, shorten exploitation week
Phase.
3rd, the present invention can be converted into C code by using related softwares such as MATLAB/Simulink and be transplanted to true control
In device processed, controller development difficulty and cost are reduced, development rate is improved.
Brief description of the drawings
A kind of structural representation of the rapid control prototyping implementation method of active rear steers of Fig. 1.
Embodiment
Below with reference to the accompanying drawings the exemplary embodiment of the present invention is described in detail.
As shown in figure 1, a kind of structural representation of the rapid control prototyping implementation method of active rear steer.First, it is right
Active rear steer system carries out dynamic analysis, its mathematical modeling is set up, according to the mathematical modeling set up, in industrial computer
(14) MATLAB/Simulink software platforms set up controller model (18), the dynamics of vehicle of trailing wheel active front steering system in
Model (17), input signal processing module (19), output signal processing module (20).Using emulation tool to active rear steer
System carries out the validity of offline digital simulation access control device.Secondly, steering wheel angle sensor (7), yaw velocity are passed
Sensor (8), lateral acceleration sensor (9), rear-axle steering displacement motor sensor (10), wheel speed sensors (11), rear rotation
Terminal board (15) is directly connected to electric machine controller (12), hub motor control device (13), is input signal；Binding post
Plate (15) is connected through rear-axle steering electric machine controller (12) with rear-axle steering motor (5), and terminal board (15) is through wheel hub motor
Controller (13) is connected with wheel hub motor (6), is output signal；Industrial computer (14) is connected with display (16) Serial Port Line, is used for
Monitor operation result.Input signal therein is analog quantity, and output signal is digital quantity.Finally, MATLAB/ is run
Simulink software platforms, controller model (18) receives input signal, and above-mentioned quilt is outputed signal to again after carrying out data processing
Object is controlled, closed-loop control is realized.
Comprise the following steps that：
1) corresponding mathematical modeling and control method are set up.Steering wheel angle sensor (7) gathers steering wheel angle δ, enters
And it is converted into front wheel angle δf, rear-axle steering displacement motor sensor (10) collection trailing wheel corner δr, wheel speed sensors (11) collection
The wheel speed of wheel, current speed u, pilot control steering wheel (1), according to δ are obtained through conversionf, δrWhether change switching is turned to
Pattern, works as δfDo not change, nose wheel steering failure, i.e. front wheel angle are under the operating mode of a non-zero corner, are rotated after being
To pattern, controlling to calculate with vehicle transverse movement currently makes vehicle operate in trailing wheel corner required on preferable track,
Performance model predictive control theory tracks trailing wheel corner, minimizes error, to ensure traveling to required path or stopping
To the place of a safety；Work as δf, δrIt is active rear-axle steering pattern, desired reference model is according to δ when changingf, δr,
U calculates preferable yaw velocity ωr, the actual yaw velocity ω of yaw-rate sensor (8) collection utilizes robust
Difference DELTA ω (Δ ω=ω-ω of the control theory to yaw velocityr) be controlled, export an additional trailing wheel corner δsr
Automobile is fed back to, so as to realize the control to trailing wheel active steering automobile yaw velocity, reaches that yaw velocity can be fine
The purpose that ground is tracked to desired reference model, improves the control stability of automobile.
2) data collecting card (21) is inserted into the neck of industrial computer (14), while being carried out with MTALAB/Simulink softwares
Configuration, is connected by real-time data port, creates the real-time communication environment between software systems and data collecting plate card (21)；Connect
Line end daughter board (15) and data collecting card (21) pass through cable connection；
3) MATLAB/Simulink models are set up in main frame, pure digi-tal emulation is carried out, analyzes and verify model and control
The correctness of method；
4) according to Fig. 1, connection display (16), industrial computer (14), steering wheel angle sensor (7), yaw velocity are passed
Sensor (8), lateral acceleration sensor (9), rear-axle steering displacement motor sensor (10), wheel speed sensors (11), rear rotation
To electric machine controller (12), hub motor control device (13), the communication between software and hardware is realized.Run MATLAB/Simulink
Program simultaneously exports digital quantity signal to rear-axle steering electric machine controller (12), hub motor control by data collecting plate card (21)
Device (13), and then control rear-axle steering motor and wheel hub motor work.
5) display (16) and industrial computer (14) serial communication, can observe the control effect of designed rapid control prototyping
Really, according to the dynamic property of active rear steer system and control stability requirement to step 1) in model and control algolithm in step
Rapid 4) middle progress is online from changing, untill reaching that control effect meets the requirement of vehicle handling stability.
Claims (1)
1. a kind of quick control device of active rear steer, it is characterised in that including trailing wheel active front steering system, industrial computer
(14), terminal board (15), display (16)；The trailing wheel active front steering system includes steering wheel (1), steering spindle (2), preceding
Rotate to executing agency (3), rear-axle steering executing agency (4), rear-axle steering motor (5), wheel hub motor (6), steering wheel angle
Sensor (7), yaw-rate sensor (8), lateral acceleration sensor (9), rear-axle steering displacement motor sensor (10),
Wheel speed sensors (11), rear-axle steering electric machine controller (12), hub motor control device (13)；Steering wheel angle sensor (7),
Yaw-rate sensor (8), lateral acceleration sensor (9), rear-axle steering displacement motor sensor (10), wheel speed sensors
(11), rear-axle steering electric machine controller (12), hub motor control device (13) are connected by signal wire with terminal board (15),
For the input and output of signal, rear-axle steering motor (5) is connected with rear-axle steering executing agency (4), rear-axle steering motor (5)
It is connected by signal wire with rear-axle steering electric machine controller (12), hub motor control device (13) passes through signal wire and wheel hub motor
(6) connect, the display (16) is connected with industrial computer (14) by Serial Port Line, serial communication is realized, for showing industrial computer
The result of operation, industrial computer (14) is connected with terminal board (15) by Serial Port Line, embedded data capture card in its expansion slot
(21)；
Steering wheel angle sensor (7) gathers steering wheel angle δ, and then is converted into front wheel angle δf, rear-axle steering displacement motor biography
Sensor (10) collection trailing wheel corner δr, wheel speed sensors (11) gather wheel wheel speed, through conversion obtain current speed u, drive
The person of sailing manipulates steering wheel (1), according to δf, δrWhether change switches steering pattern：Work as δfDo not change, nose wheel steering failure, i.e.,
Front wheel angle is under the operating mode of a non-zero corner, is rear-axle steering pattern, calculates current with vehicle transverse movement control
Vehicle is set to operate in trailing wheel corner required on preferable track, performance model predictive control theory tracking trailing wheel corner makes
Error is minimized, to ensure traveling to required path or stop to the place of a safety；Work as δf, δrWhen changing,
For active rear-axle steering pattern, according to δf, δr, u calculates preferable yaw velocity ωr, yaw-rate sensor (8) adopts
Collect actual yaw velocity ω, utilize difference DELTA ω (Δ ω=ω-ω of the robust control theory to yaw velocityr) carry out
Control, exports an additional trailing wheel corner δsrAutomobile is fed back to, so as to realize to trailing wheel active steering automobile yaw velocity
Control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510781869.9A CN105241678B (en) | 2015-11-15 | 2015-11-15 | A kind of rapid control prototyping implementation method of active rear steer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510781869.9A CN105241678B (en) | 2015-11-15 | 2015-11-15 | A kind of rapid control prototyping implementation method of active rear steer |
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| CN105241678A CN105241678A (en) | 2016-01-13 |
| CN105241678B true CN105241678B (en) | 2017-09-01 |
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| CN201510781869.9A Expired - Fee Related CN105241678B (en) | 2015-11-15 | 2015-11-15 | A kind of rapid control prototyping implementation method of active rear steer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US11317556B2 (en) | 2020-09-03 | 2022-05-03 | Deere & Company | Method of controlling a differential motor torque steering system of a working machine and system thereof |
| CN112506047B (en) * | 2020-10-27 | 2022-03-29 | 湖南大学 | Intelligent automobile transverse control method integrating rear wheel feedback and sliding mode control |
| CN114104097B (en) * | 2021-12-21 | 2023-06-27 | 华人运通(江苏)技术有限公司 | Steering control method, device and system and readable storage medium |
| CN115583287A (en) * | 2022-10-10 | 2023-01-10 | 北京汽车集团越野车有限公司 | Rear wheel steering control method, rear wheel steering control device, vehicle, equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4314489B2 (en) * | 2005-09-16 | 2009-08-19 | トヨタ自動車株式会社 | Vehicle steering device |
| CN100486853C (en) * | 2005-12-19 | 2009-05-13 | 比亚迪股份有限公司 | Active steering control system and method for automobile |
| CN101618733B (en) * | 2009-08-06 | 2011-05-04 | 上海交通大学 | Front wheel and rear wheel drive steering control system of automobile |
| CN101695935A (en) * | 2009-10-28 | 2010-04-21 | 南京航空航天大学 | Active steering system combined with electrical power-assisted steering function and control method thereof |
| US8630779B2 (en) * | 2010-04-09 | 2014-01-14 | Navteq B.V. | Method and system for vehicle ESC system using map data |
| CN102280019A (en) * | 2011-06-27 | 2011-12-14 | 江苏大学 | Electric power-assisted steering test bench data acquisition device and network system |
| JP5387994B2 (en) * | 2011-09-27 | 2014-01-15 | 株式会社デンソー | Electric power steering device |
| CN103412136B (en) * | 2013-08-14 | 2015-02-04 | 江苏大学 | Vehicle yaw velocity measurement method |
| CN104960569A (en) * | 2015-06-29 | 2015-10-07 | 北京工业大学 | Realizing method of rapid control prototyping of active front wheel steering |
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