The invention discloses a road feel feedback torque control method based on steer-by-wire. The method comprises the following steps: S1, establishing a feedback torque designer based on a model; s2, acquiring a reference feedback torque through a feedback torque designer; s3, taking an error value obtained by subtracting the reference feedback torque from the real feedback torque as a state quantity; s4, a high-order all-drive system is established for a steering dynamics system, torque tracking controller control processing is conducted, personalized steering feeling is achieved through main torque and compensation torque, an HOFA method is used for converting an actual nonlinear SbW system into a linear all-drive system, the design of the controller is simplified, and a high-order all-drive system controller is used for controlling the steering dynamics system. The high-precision tracking control of the steering feedback torque is realized, and the real-time performance of the system is improved. The steering-by-wire based road feeling feedback torque control method provided by the invention has the effects of eliminating nonlinearity of an actual system, improving control performance and providing accurate and real-time steering feedback for a driver.
本发明公开了一种基于线控转向的路感反馈扭矩控制方法,包括以下步骤:S1、建立基于模型的反馈扭矩设计器;S2、通过反馈扭矩设计器获取参考反馈扭矩;S3、将参考反馈扭矩与真实反馈扭矩做差所得误差值作为状态量;S4、对转向动力学系统建立高阶全驱系统,进行扭矩跟踪控制器控制处理,通过主力矩与补偿力矩实现个性化转向感受,利用HOFA方法将实际的非线性SbW系统转化为线性全驱动系统,简化控制器设计,通过高阶全驱动系统控制器,实现转向反馈扭矩的高精度跟踪控制,提高系统的实时性能。本发明提供的基于线控转向的路感反馈扭矩控制方法具有消除实际系统的非线性,提高控制性能,给驾驶员提供准确、实时的转向反馈的效果。
Road feeling feedback torque control method based on steer-by-wire
一种基于线控转向的路感反馈扭矩控制方法
27.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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