【作者】 杨莉；

【导师】 许敏； 吴晓东；

【作者基本信息】 上海交通大学 ， 机械工程， 2016， 硕士

【摘要】 线控转向系统通过汽车的转向轮和转向盘的转角及力矩控制实现个性化的驾驶体验。为实现这一目的,本文以汽车线控转向系统的控制策略为研究对象,详细分析其硬件构成和系统原理,介绍了国内外线控转向系统的研究现状,利用快速原型开发设备A&D5435搭建了硬件在环仿真试验平台,以实现对所设计的控制策略的验证。本文基于双向控制算法,设计了针对线控转向系统的位置跟随-力矩反馈型双向控制策略及力矩跟随-位置反馈型双向控制策略,搭建了系统的动力学模型,通过MATLAB/Simulink完成了控制策略的设计,利用所搭建的硬件在环试验平台对该方法进行验证。试验结果表明,这两种控制算法均能很好的实现转向控制目标。为改善位置跟随-力矩反馈型双向控制算法,在上述研究基础上,通过设计路感反馈算法代替测量转向回正力矩及阻力的力矩传感器。以线控转向系统的路感模拟为研究对象,建立转向执行系统的动力学模型以及汽车的线性二自由度动力学模型,考虑了电机本身的动力学特性。通过设计横摆角速度观测器来估计转向回正力矩,以此力矩作为路感模拟电机矢量控制的力矩。通过MATLAB/Simulink模型仿真试验,验证了路感模拟算法的控制效果,并得到了所建立的系统模型的稳态转向特性。线控转向系统需要采用冗余技术以确保其在发生故障时能够继续安全行驶。本文分别对转角传感器和侧向加速度传感器进行解析冗余算法设计,对传感器信号的范围以及信号互减的差值范围进行检测,判断并识别当前发生故障的传感器,并计算得到正常的信号输出。通过瞬时型故障及永久型故障对所设计的冗余算法进行验证,仿真试验结果显示该算法能够对传感器故障进行检测判断与识别。更多还原

【Abstract】 It is likely to realize various kinds of driving experience for Steer-By-Wire(SBW)system by controlling steering angle and torque of steering front wheels and hand wheel.To get the above target,this paper is focused on the control strategy of SBW system.The components and working principle of SBW system is analyzed firstly,and an introduction about overseas and domestic research status is demonstrated.The hardware-in-the-loop experiment platform is established on the basis of a rapid prototyping equipment A&D5435,which was used for validating control strategies of SBW system.Two different bilateral control strategies for SBW system is designed.One is named as position follow with toque feedback and the other type is called torque follow with position feedback.By developing the dynamic model and simulating with MATLAB/Simulink,these two control strategies are validated by the established hardware-in-the-loop experiment platform.The results show that the strategies turn out to be efficient and effective to realize the steering target and road feeling feedback.In order to improve the control strategy of position follow with toque feedback,a new road-feeling simulation algorithm is designed to replace the torque sensor which is used for measuring steering resisting torque and align torque.This part of research work is concentrated on road feeling simulation of SBW system.The dynamic model of steering actuator system is developed.Based on a linear vehicle model with 2 DOFs,yaw velocity observer is designed.A novel approach for road feeling simulation is proposed with estimated steering aligning torque,considering motor dynamic characters.The torque is set as the target of vector control for road feeling motor.The MATLAB/Simulink model is developed and model simulation is conducted to verify accuracy of the proposed control strategy for road feeling of SBW system.It is supposed to use redundancy technique to guarantee safety of SBW system when any fault happens.In this paper,an analytical redundancy algorithm is designed for steering angular sensor and lateral acceleration sensor.The signal range and signal difference range are detected respectively to check whether they are in the appropriate scope.A normal signal output is calculated by judging and identifying the fault sensors.The algorithm is verified by two types of sensor fault: the transient and persistent fault.The simulation results show the effectiveness of the algorithm to detect,judge and identify fault sensor for SBW system.更多还原