CN105083373A - Steering-by-wire feeling device based on parameter estimation and control method thereof - Google Patents
Steering-by-wire feeling device based on parameter estimation and control method thereof Download PDFInfo
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Abstract
The invention discloses a steering-by-wire feeling device based on parameter estimation and a control method thereof. The steering-by-wire feeling device comprises a steering wheel as well as a steering angle sensor, a torque sensor, a steering column, a steering feeling motor, a steering feeling controller and so on, wherein the steering angle sensor, the torque sensor, the steering column, the steering feeling motor and the steering feeling controller are connected with the steering wheel; the steering-by-wire feeling device further comprises a set of clutch; the controller is used for detecting an error of a current state; the clutch is controlled to switch to a spare motor steering mode. A planning method comprises the steps of measuring a signal through the sensor, estimating through Kalman filtering so as to obtain a current automobile state variable, figuring out automobile steering resistance moment, and compensating and revising steering feeling through an automobile speed, a variable transmission ratio and a lateral acceleration so as to obtain a current desired steering wheel moment value. According to the steering-by-wire feeling device based on the parameter estimation and the control method thereof, disclosed by the invention, the working mode can be switched through the additionally arranged clutch to assure that a normal steering function can be still guaranteed to provide reliable steering feeling when a steering-by-wire mode has a fault; meanwhile, a driver can obtain good road surface information during normal driving so that the maneuverability and the comfort of the automobile are improved.
Description
Technical field
The present invention relates to automobile steering-by-wire field, be specifically related to a kind of steering-by-wire road feel device based on parameter estimation and control method thereof.
Background technology
Steering-by-wire (steer-by-wire is called for short SBW) represents the developing direction of following Power Steering of Car.This system eliminates the mechanical connection between steering handwheel and wheel flutter, by wire by signal transmission to electronic control unit (ElectronicControlUnit, ECU), send instruction by ECU again to control to turn to execution assembly to complete the steering command of chaufeur, realize the driving intention of chaufeur.SBW system eliminates the mechanical connection between bearing circle and steered wheel, and controlled the divertical motion of automobile by motor-driven steering system, bearing circle resisting moment when simultaneously turning to also is produced by motor simulation.SBW system has been completely free of the restriction that conventional steering system mechanics connects, in theory can the angle transmission characteristic of free design vehicle steering swivel system and force transfering characteristic, design for motor turning characteristic brings wide space, has a wide range of applications market and development prospect.
Due in steering swivel system without the restriction of mechanical connection, bearing circle can be replaced by the parts such as joystick, button and switch, make steering operation easier and flexible, but this also needs chaufeur change driving habit.In order to make driving more flexibly comfortable, just introduce the planning of road feel.Road feel refers to the steering resisting torque that in vehicle traveling process, chaufeur is obtained by steering wheel feedback, and this moment contains motion and the strained condition information of car load and tire, has important effect to chaufeur grasp motion state of automobile and running environment situation.Good road feel ensures the indispensable part of vehicle handling stability.In SBW system, the road feel feeding back to chaufeur is that the road feel motor simulation controlled in steering wheel assembly by ECU is generated.Therefore, the motoring condition that can reflect true road feel and road surface attachment condition etc. can be extracted during design road feel analogue enlargement strategy as road feel analogue enlargement variable from the various signal of automobile, for chaufeur provides good road feel.
The road feel problem of wire-controlled steering system is as one of its gordian technique, the experimental results that many Automobile Enterprises both domestic and external, scientific research colleges and universities carry out to a certain degree is meeting the assurance degree of chaufeur to steering swivel system substantially, but respectively there is merits and faults, it not only needs point-device steering swivel system model and powerful controller, and the expensive accuracy rate to sensor of the research of some method and price require higher, have impact on cycle and the cost of exploitation to a certain extent, this is also one of key issue affecting wire-controlled steering system development and apply.All comprehensive research should be had in addition for the various operating mode of wire-controlled steering system and motoring condition, such as to the bearing circle midway location of wire-controlled steering system, protect rudder and returnability should have a comprehensive analytical investigation, specializing in this respect is less, and we still need constantly to carry out improving to improve with the road feel requirement adapting to conventional steering system as early as possible.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides a kind of steering-by-wire road feel device based on parameter estimation and control method thereof, pass through parameter estimation, the method adopting filtering to estimate obtains the size of side force and sideslip angle, calculate the size of aligning torque, compensate design on this basis, solve the problem of prior art.
Technical scheme: for achieving the above object, the technical solution used in the present invention is a kind of steering-by-wire road feel device based on parameter estimation, comprises bearing circle and wheel, it is characterized in that, comprise the sensor group be connected with bearing circle, and group of motors, controller and steering structure;
Described group of motors comprises road feel motor and steer motor, described sensor group link road electrification machine, power-transfer clutch and steer motor successively; Sensor group comprises torque sensor and rotary angle transmitter;
Turn to and control group of motors realization by controller, steering wheel torque is produced by controller Dominating paths electrification machine, controls steer motor connect by controller control clutch; Described steer motor connects the steering structure of front-wheel;
Comprise the standby electricity unit controlled by road feel controller, described standby electricity unit connects front wheel steering structure by power-transfer clutch; Described group of motors or standby electricity unit operation under mode of operation.
A kind of steering-by-wire road feel apparatus control method based on parameter estimation: it is characterized in that, comprise sensor group, sensor group comprises angular speed of wheel sensor, lateral acceleration sensor and force snesor;
Described sensor group collection vehicle information, the information gathered is sent into vehicle state estimation module by described lateral acceleration sensor, utilize Kalman Filter Estimation method to estimate information of vehicles, estimated information is sent into respectively fit correlation processing module, slip rate computing module and side force estimation module; Information Monitoring is sent into slip rate computing module by described angular speed of wheel sensor; Information is sent into side force estimation module by described force snesor;
Radius of wheel fitting module, due to relating to parameters such as wheel Dynamic Radius and vehicle complete vehicle quality, speed, obtains some data by some experimental tests, utilizes least square method to carry out identification to tire radius.
Described fit correlation module mouth access slip rate computing module, parameter vehicle state estimation module obtained, vertical load of tire that sensor records and the slip rate calculated send into side force estimation module, and the side force obtained sends into adhesion value estimation module and aligning torque computing module; Adhesion value estimation module estimates that the adhesion value obtained feeds back to side force computing module; The mouth access steering wheel torque module of aligning torque computing module;
According to vehicle's current condition, calculating is compensated to steering wheel torque, compensation value is accessed steering wheel torque module;
The method comprises the following steps:
Collection vehicle running state parameter, this running state parameter comprises the speed of a motor vehicle, tire rotational speed, lateral acceleration and tire vertical load information;
Adopt kalman filter method to estimate by vehicle state estimation module to described state parameter, obtain the speed of a motor vehicle parameter after estimating, the speed of a motor vehicle parameter after described estimation comprises side velocity and longitudinal velocity;
By the side velocity after estimation and described tire vertical load information, linear least squares method method is adopted to obtain actual tire radius;
This tire radius is passed to slip rate computing module, and the tire rotational speed that combined sensor group obtains and the longitudinal velocity after estimating, obtain the factor to affect of longitudinal force to side force of tire;
Described factor to affect is passed to side force estimation module, calculates aligning torque information, thus the bearing circle resisting moment obtained feedback information of road surface;
Accelerate to revise road feel by speed of a motor vehicle parameter, transmitting ratio and the side direction after described estimation.
Further, comprise variable ratio control module, this module is carried out LQG/LTR feedforward compensation to automobile yaw velocity and is obtained actual variable ratio, asks for compensating torque online.
Beneficial effect: a kind of steering-by-wire road feel device based on parameter estimation provided by the invention and control method thereof are in Vehicular turn process, both the transmission of information of road surface can have been ensured on the one hand, guarantee road feel is true, simultaneously by the correction to road feel, ensure in the downward portability of low speed rotation and the alerting ability coordinating and unifying, during high speed steering, steering feel and stability perfection are merged; On the other hand, when turn to break down time, controlled by ECU, switch turn to mode of operation, ensured basic turning function, reliable and secure.
Accompanying drawing explanation
Fig. 1 is line traffic control automobile steering system schematic diagram in the present invention
Fig. 2 is road feel of the present invention planning schematic diagram
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further described.
As shown in Figure 1, the technical solution used in the present invention is a kind of steering-by-wire road feel device based on parameter estimation, comprises bearing circle and wheel, it is characterized in that, comprise the sensor group be connected with bearing circle, and group of motors, controller and steering structure;
Described group of motors comprises road feel motor and steer motor, described sensor group link road electrification machine, power-transfer clutch and steer motor successively; Sensor group comprises torque sensor and rotary angle transmitter;
Turn to and control group of motors realization by controller, steering wheel torque is produced by controller Dominating paths electrification machine, controls steer motor connect by controller control clutch; Described steer motor connects the steering structure of front-wheel;
Comprise the standby electricity unit controlled by road feel controller, described standby electricity unit connects front wheel steering structure by power-transfer clutch; Described group of motors or standby electricity unit operation under mode of operation.
A kind of steering-by-wire road feel apparatus control method based on parameter estimation: it is characterized in that, comprise sensor group, sensor group comprises angular speed of wheel sensor, lateral acceleration sensor and force snesor;
Described sensor group collection vehicle information, the information gathered is sent into vehicle state estimation module by described lateral acceleration sensor, utilize Kalman Filter Estimation method to estimate information of vehicles, estimated information is sent into respectively fit correlation processing module, slip rate computing module and side force estimation module; Information Monitoring is sent into slip rate computing module by described angular speed of wheel sensor; Information is sent into side force estimation module by described force snesor;
Radius of wheel fitting module, due to relating to parameters such as wheel Dynamic Radius and vehicle complete vehicle quality, speed, obtains some data by some experimental tests, utilizes least square method to carry out identification to tire radius.
Described fit correlation module mouth access slip rate computing module, parameter vehicle state estimation module obtained, vertical load of tire that sensor records and the slip rate calculated send into side force estimation module, and the side force obtained sends into adhesion value estimation module and aligning torque computing module; Adhesion value estimation module estimates that the adhesion value obtained feeds back to side force computing module; The mouth access steering wheel torque module of aligning torque computing module;
According to vehicle's current condition, calculating is compensated to steering wheel torque, compensation value is accessed steering wheel torque module;
The method comprises the following steps:
Collection vehicle running state parameter, this running state parameter comprises the speed of a motor vehicle, tire rotational speed, lateral acceleration and tire vertical load information;
Adopt kalman filter method to estimate by vehicle state estimation module to described state parameter, obtain the speed of a motor vehicle parameter after estimating, the speed of a motor vehicle parameter after described estimation comprises side velocity and longitudinal velocity;
By the side velocity after estimation and described tire vertical load information, linear least squares method method is adopted to obtain actual tire radius;
This tire radius is passed to slip rate computing module, and the tire rotational speed that combined sensor group obtains and the longitudinal velocity after estimating, obtain the factor to affect of longitudinal force to side force of tire;
Described factor to affect is passed to side force estimation module, calculates aligning torque information, thus the bearing circle resisting moment obtained feedback information of road surface;
Accelerate to revise road feel by speed of a motor vehicle parameter, transmitting ratio and the side direction after described estimation.
Further, comprise variable ratio control module, this module is carried out LQG/LTR feedforward compensation to automobile yaw velocity and is obtained actual variable ratio, asks for compensating torque online.
Power-assisted compensating module revises according to the vehicle condition speed of a motor vehicle, variable ratio and the lateral acceleration road feel to simulation.
Present invention also offers a kind of under wire-controlled steering system breaks down situation, by ECU detection signal, and the mode of operation of control clutch, when breaking down, be switched to motor mode for subsequent use, ensure basic turning function, reliable and secure.
Embodiment: in order to obtain comparatively real road feel, the method adopting filtering to estimate obtains the size of side force and sideslip angle, calculates the size of aligning torque, then compensates design on its basis, obtain well comfortable road feel.
Concrete steps comprise:
With reference to shown in accompanying drawing 1, the steering swivel system of line traffic control automobile is made up of steering handwheel (1), road feel motor, ECU, motor for subsequent use, steer motor, power-transfer clutch (2) (3), motor for subsequent use and wheel (4).When ECU accepts to report an error, power-transfer clutch (2) disconnects, and power-transfer clutch (3) is started working, and starts motor for subsequent use, ensures basic turning function.
Road feel planning is with reference to accompanying drawing (2), and concrete steps comprise:
Step one: to the estimation of vehicle condition parameter and the calculating of aligning torque.
The lateral acceleration obtained by sensor and front wheel angle are passed to motoring condition estimation module, according to car load three degree of freedom model, automobile yaw velocity, side slip angle and longitudinal speed of a motor vehicle is estimated.Concrete estimating step is as follows:
Car load three degree of freedom model:
In formula, m is vehicle complete vehicle quality; A, b are respectively the distance of barycenter to antero posterior axis; k
1, k
2be respectively front and back wheel cornering stiffness; v
xfor barycenter place longitudinal velocity; a
xfor automobile longitudinal acceleration; β is side slip angle; ω is yaw velocity; δ is front wheel angle; I
zfor the rotor inertia of car load; U is the speed of a motor vehicle.
Measurement equation:
In formula, a
yfor automobile side angle acceleration/accel.
Get
by model linearization
Filtering algorithm for estimating:
Status predication:
State error covariance predictive equation:
Gain equation:
Measurement update equation:
State error covariance correction equation:
Wherein, φ (t)=I+F (t) * Δ t, here Δ t gets 0.005s; Q is the covariance matrix of system incentive noise; R is the covariance matrix of measurement noise.
Afterwards, the side velocity obtained by state estimator and the tire vertical load information that recorded by sensor are passed to tire radius computing module.Due to relating to parameters such as vehicle wheel roll radius and vehicle complete vehicle quality, the speed of a motor vehicle, some data can be obtained by some experimental tests, and then carry out matching
ΔR＝K
zF
z(1-K
vv
x)(12)
R＝R
0+ΔR(13)
In formula, R
0for no-load is without tire radius during speed; Δ R is that tire is relative to R
0variable quantity; K
zfor loading effect factor; K
vfor rate factor; F
zfor vertical load size;
The tire radius of the reality obtained is passed to slip rate computing module, the tire rotational speed that combined sensor records and the longitudinal velocity that estimation obtains, thus obtain the size of slip rate this moment.Slip rate is calculated as follows:
In formula, s
irepresent slip rate; ω
ifor vehicle wheel rotational speed.According to the slip rate obtained, estimate the factor to affect K of longitudinal force to side force of tire
l.
By the Parameter transfer that obtains to side force estimation module, according to collection vertical load of tire value, the quasistatic side direction force value of estimation tire, then according to the dynamic lateral power of tire and quasistatic side direction force value opening relationships.Concrete side force algorithm for estimating is as follows:
In formula,
for quasi-static force; F
yfor side force of tire; K
lfor factor to affect, obtained by off-line testing.And quasi-static force
magic formula is utilized to obtain:
Wherein:
In formula, α
f, α
rfor front and back wheel tyre slip angle; μ is coefficient of road adhesion; A, B are constant, can matching obtain by experiment.
Send testing the side force of tire acquired into road surface attachment estimation module, utilize current known each information, road pavement adhesion value is estimated, algorithm is as follows:
By Vehicle dynamics, to tyre slip angle differentiate:
EKF is adopted to realize the estimation of road pavement adhesion value.
First, system parameter and measurement equation is set up
In formula, x
st () is state variable; x
pt () is parametric variable, w (t) is process noise, and v (t) is measurement noise.
Parameter prediction:
φ
p(t) and P
pbe covariance matrix.
Gain equation:
Measure update equation:
Error covariance renewal equation:
φ
p(t)＝[I-K
p(t)H
p]φ
- p(t)(23)
In formula, R
p, H
pand H
sbe respectively measurement noises covariance, measure the Jacobi matrix and the Jacobi matrix of measurement output to the partial derivative of state variable that export the partial derivative of parametric variable.
In conjunction with equation above, state to be estimated and parameter state are x
s(t)=[α
f, α
r] and x
p(t)=[μ
f, μ
r].By above-mentioned calculating, can estimate to obtain coefficient of road adhesion more accurately.Again the real-time coefficient of road adhesion obtained is fed back to side force estimator, thus now the estimation of side force and adhesion value all will be revised and upgrade.
The coefficient of road adhesion obtained is fed back to side force estimation module, more accurately estimation is revised to the estimation of side force, repeat this process.
Finally obtain aligning torque τ
asize is:
τ
a＝F
y(t
m+t
p)(24)
In formula, t
mfor pneumatic trail, t
pfor mechanical drag, be generally taken as definite value.
Step 2: the amendment design of road feel
(1) according to the speed of a motor vehicle size obtained by estimation, road feel is revised:
T
p＝k
p·(T-T
0)(25)
Wherein,
In formula, T
pand T
pmaxbe respectively the power torque of motor and maximum power torque; T
0, T and T
maxbe respectively steering-wheel torque when starting power-assisted, steering-wheel torque when steering-wheel torque and maximum power-assisted; T
pfor speed of a motor vehicle influence coefficient.
(2) variable ratio is to the correction of road feel:
The change of transmitting ratio, cause rotating identical steering wheel angle, front wheel angle is different, carries out correction-compensation formula according to different variable ratios to road feel:
T
i＝-k
i·T(27)
In formula, T
idealfor desirable chaufeur hand-power corresponding under the different speed of a motor vehicle; T
ifor variable ratio compensating torque; k
imatching obtains.
Variable ratio controls:
Non-linear two degrees of freedom whole vehicle model:
In formula, F
f, F
rbe respectively automobile front and back wheel longitudinal force, F
wfor lateral wind, I
zfor automobile inertia, I
wfor Lateral Wind point is to the distance of barycenter.
(29) formula is rewritten into state space form:
Wherein, x=[ω β]; Y=ω; U=[δ].
LQG/LTR control inputs is e=ω
r-ω, ω
rfor desirable yaw velocity.
This algorithm can control interference, after obtaining actual yaw velocity value, asks for actual variable ratio size.
(3) lateral acceleration is to the correction of road feel:
Hand-wheel torque gradient represents:
In formula, l
tpfor pneumatic trail; l
hpfor pneumatic trail; i
kfor variable ratio; K is compensating factor.If
so chaufeur can the driving information of perception too little, road feel is bad; If
so chaufeur more difficult [10] when moving line or sail track fast into.Therefore, at a
yhand-wheel torque gradient should be made when>=4g close to 1.5.
The optimal compensation coefficient when high lateral acceleration is obtained according to (29) formula.
Finally obtain steering wheel torque, make chaufeur obtain good road feel.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (3)
1. based on a steering-by-wire road feel device for parameter estimation, comprise bearing circle and wheel, it is characterized in that, comprise the sensor group be connected with bearing circle, and group of motors, controller and steering structure;
Described group of motors comprises road feel motor and steer motor, described sensor group link road electrification machine, power-transfer clutch and steer motor successively; Sensor group comprises torque sensor and rotary angle transmitter;
Turn to and control group of motors realization by controller, steering wheel torque is produced by controller Dominating paths electrification machine, controls steer motor connect by controller control clutch; Described steer motor connects the steering structure of front-wheel;
Comprise the standby electricity unit controlled by road feel controller, described standby electricity unit connects front wheel steering structure by power-transfer clutch; Described group of motors or standby electricity unit operation under mode of operation.
2. the steering-by-wire road feel apparatus control method based on parameter estimation: it is characterized in that, comprise sensor group, sensor group comprises angular speed of wheel sensor, lateral acceleration sensor and force snesor;
Described sensor group collection vehicle information, the information gathered is sent into vehicle state estimation module by described lateral acceleration sensor, utilize Kalman Filter Estimation method to estimate information of vehicles, estimated information is sent into respectively fit correlation processing module, slip rate computing module and side force estimation module; Information Monitoring is sent into slip rate computing module by described angular speed of wheel sensor; Information is sent into side force estimation module by described force snesor;
Radius of wheel fitting module, utilizes least square method to carry out identification to tire radius;
Described fit correlation module mouth access slip rate computing module, parameter vehicle state estimation module obtained, vertical load of tire that sensor records and the slip rate calculated send into side force estimation module, and the side force obtained sends into adhesion value estimation module and aligning torque computing module; Adhesion value estimation module estimates that the adhesion value obtained feeds back to side force computing module; The mouth access steering wheel torque module of aligning torque computing module;
According to vehicle's current condition, calculating is compensated to steering wheel torque, compensation value is accessed steering wheel torque module;
The method comprises the following steps:
Collection vehicle running state parameter, this running state parameter comprises the speed of a motor vehicle, tire rotational speed, lateral acceleration and tire vertical load information;
Adopt kalman filter method to estimate by vehicle state estimation module to described state parameter, obtain the speed of a motor vehicle parameter after estimating, the speed of a motor vehicle parameter after described estimation comprises side velocity and longitudinal velocity;
By the side velocity after estimation and described tire vertical load information, linear least squares method method is adopted to obtain actual tire radius;
This tire radius is passed to slip rate computing module, and the tire rotational speed that combined sensor group obtains and the longitudinal velocity after estimating, obtain the factor to affect of longitudinal force to side force of tire;
Described factor to affect is passed to side force estimation module, calculates aligning torque information, thus the bearing circle resisting moment obtained feedback information of road surface;
Accelerate to revise road feel by speed of a motor vehicle parameter, transmitting ratio and the side direction after described estimation.
3. a kind of steering-by-wire road feel apparatus control method based on parameter estimation as claimed in claim 3: it is characterized in that, comprise variable ratio control module, this module is carried out LQG/LTR feedforward compensation to automobile yaw velocity and is obtained actual variable ratio, asks for compensating torque online.
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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 |