CN114932943A - Drive-by-wire steering control method with variable transmission ratio - Google Patents
Drive-by-wire steering control method with variable transmission ratio Download PDFInfo
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- CN114932943A CN114932943A CN202210347290.1A CN202210347290A CN114932943A CN 114932943 A CN114932943 A CN 114932943A CN 202210347290 A CN202210347290 A CN 202210347290A CN 114932943 A CN114932943 A CN 114932943A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000011217 control strategy Methods 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000013016 damping Methods 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 238000005314 correlation function Methods 0.000 claims description 3
- 238000013178 mathematical model Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 5
- 230000001687 destabilization Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000006872 improvement Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a drive-by-wire steering control method with variable transmission ratio, which comprises the following steps: the steering-by-wire system comprises a steering operation module, a steering execution module and a central control module, wherein the steering operation module mainly converts a steering wheel angle input by a driver into a digital signal through a sensor and transmits the digital signal to a controller, and a road condition is transmitted to the driver through a road sensing motor. The invention provides a four-wheel steering automobile optimal control strategy based on a drive-by-wire variable transmission ratio, and the control variables of the four-wheel steering optimal controller are fed back to the variable transmission ratio controller to form closed-loop control, so that the automobile is controlled not to be in a destabilization state, and the variable transmission ratio controller also controls the automobile state according to the change of the automobile speed, so that the automobile is in an ideal steering state. The four-wheel steering optimal controller not only controls the yaw velocity of the automobile, but also controls the mass center and the side deflection angle of the automobile to be basically zero, and ensures the posture of the running automobile body.
Description
Technical Field
The invention relates to the technical field of steer-by-wire control methods, in particular to a steer-by-wire control method with variable transmission ratio.
Background
Electromechanical industry specific phrases by wire. The device is a physical control mode in electromechanical control, and mainly refers to a connection mode between a signal generator and a signal receiver, wherein the connection mode is realized by transmitting a signal to an object through a cable or other actions. For example, the bell is pulled by a wire to make the bell sound, and the on-off of part of the automobile oil way and the flow rate are controlled.
The steer-by-wire system is free of mechanical transmission parts, force and angle between a steering wheel and wheels can be reasonably designed according to driving habits and satisfaction of drivers, active safety control is combined, and steering stability and safety of vehicles are improved. The steering characteristic of the automobile with the fixed transmission ratio changes along with the change of the speed of the automobile, which increases the operation difficulty of a driver; the ideal steering transmission ratio of the automobile should meet the requirements of large transmission ratio at low speed so as to be convenient for a driver to operate and small transmission ratio at high speed so as to ensure the driving safety. Therefore, a new technical solution needs to be provided.
Disclosure of Invention
The invention aims to provide a drive-by-wire steering control method with a variable transmission ratio, which solves the problem that the steering characteristic of an automobile with a fixed transmission ratio is changed along with the change of the speed of the automobile, so that the operation difficulty of a driver is increased. In order to achieve the purpose, the invention provides the following technical scheme: a variable-ratio steer-by-wire control method comprising: the steer-by-wire system comprises a steering operation module, a steering execution module and a central control module, wherein the steering operation module mainly converts a steering wheel corner input by a driver into a digital signal through a sensor and transmits the digital signal to a controller, and transmits a road condition to the driver through a road sense motor, the steering execution module mainly controls the steering motor to drive a front wheel to steer according to a control signal obtained by the controller, and the central control module mainly judges a vehicle motion state according to a sensor signal and controls the road sense motor and the execution motor to enable an automobile to steer normally and provide good road sense for the driver.
As a preferred embodiment of the present invention, a steer-by-wire control method includes the steps of:
step 1: modeling a steering operation mechanism, wherein the steering operation module comprises: a steering wheel (sw), a corner sensor, a torque sensor, a road sensing motor and a speed reducing mechanism of the road sensing motor (m);
step 2: the steering wheel and the steering column are regarded as a whole; let Jsw be steering wheel rotational inertia, theta sw be steering wheel rotation angle, beta sw be steering column damping factor, Tsw be steering wheel torque, Ksw be steering column torsional rigidity, theta m be road-sensing motor rotation angle, gamma m be speed reducer ratio of road-sensing motor, Tm be road-sensing motor electromagnetic torque, Jm be road-sensing motor rotational inertia, beta m be road-sensing motor damping factor, Um be road-sensing motor both-end voltage, Rm be road-sensing motor armature resistance, im be road-sensing motor current, Lm be road-sensing motor inductance, Km be road-sensing motor back electromotive force coefficient, and Cm be road-sensing motor electromagnetic torque coefficient;
and 3, step 3: modeling a steering execution mechanism, namely reasonably simplifying the structure of the steer-by-wire execution system, respectively carrying out stress analysis on a steering execution motor, a rack and pinion and a steering front wheel, and establishing a mathematical model of the steering execution system;
and 4, step 4: the method is characterized in that a state tracking correction control strategy based on yaw rate feedback is adopted, an expected front wheel corner of a vehicle is obtained through variable transmission ratio control, under the corner, the vehicle and a linear two-degree-of-freedom model generate different yaw rate values, an active steering controller calculates the difference value of the vehicle and the linear two-degree-of-freedom model to obtain an additional corner, the additional corner is superposed with the expected front wheel corner, the actual yaw rate of the vehicle tracks the ideal yaw rate of the linear two-degree-of-freedom model in real time, and the vehicle can run more stably.
As a preferred embodiment of the present invention, an overall control method of an all-wheel steer-by-wire system includes the steps of:
step 1: firstly, the vehicle speed and the steering wheel angle acquired by a sensor are used as input signals of a fuzzy controller, and the variable steering transmission ratio of the vehicle is obtained based on a set fuzzy rule and a membership function of the input and output signals;
step 2: calculating the front wheel rotation angle of the all-wheel steer-by-wire vehicle according to the ratio between the rotation angle of the steering wheel and the steering transmission ratio;
and 3, step 3: then, acquiring the yaw velocity of the vehicle through a gyroscope, selecting yaw velocity deviation e r and deviation differential e.r as characteristic quantities, dividing an extension set, calculating a correlation function, and dividing the vehicle state into a classical domain, an extension domain and a non-domain;
and 4, step 4: and in the classical domain, tracking the ideal yaw rate as a control target, and controlling the stability of the vehicle by adopting a traditional robust H-infinity control strategy. And adopting an extension control theory in an extension domain and a non-domain to dynamically adjust the output signal of the H-infinity controller.
And 5: and finally, outputting a proper vehicle rear wheel steering angle based on control algorithms in different areas, and improving the operation stability of the all-wheel steer-by-wire vehicle.
Compared with the prior art, the invention has the following beneficial effects:
the invention combines the advantages of steer-by-wire and four-wheel steering, provides a four-wheel steering automobile optimal control strategy based on the drive-by-wire variable transmission ratio, and feeds back the control variable of the four-wheel steering optimal controller to the variable transmission ratio controller to form closed-loop control so as to control the automobile not to be in a destabilization state, and the variable transmission ratio controller also controls the automobile state according to the change of the automobile speed so as to ensure that the automobile is in an ideal steering state. The four-wheel steering optimal controller not only controls the yaw velocity of the automobile, but also controls the mass center and the side deflection angle of the automobile to be basically zero, and ensures the posture of the running automobile body.
Drawings
FIG. 1 is a schematic view of a steer-by-wire system of the present invention;
FIG. 2 is a schematic diagram of the overall control logic of the steer-by-wire system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a technical solution: a variable-ratio steer-by-wire control method comprising: the steer-by-wire system comprises a steering operation module, a steering execution module and a central control module, wherein the steering operation module mainly converts a steering wheel corner input by a driver into a digital signal through a sensor and transmits the digital signal to a controller, and transmits a road condition to the driver through a road sense motor, the steering execution module mainly controls the steering motor to drive a front wheel to steer according to a control signal obtained by the controller, and the central control module mainly judges a vehicle motion state according to a sensor signal and controls the road sense motor and the execution motor to enable an automobile to steer normally and provide good road sense for the driver.
Further improved, as shown in fig. 1: the steer-by-wire control method includes the steps of:
step 1: modeling a steering operation mechanism, wherein the steering operation module comprises: a steering wheel (sw), a corner sensor, a torque sensor, a road sensing motor and a speed reducing mechanism of the road sensing motor (m);
step 2: the steering wheel and the steering column are regarded as a whole; and let Jsw be steering wheel moment of inertia, θ sw be steering wheel angle, β sw be steering column damping factor, Tsw be steering wheel torque, Ksw be steering column torsional stiffness, θ m be road-sensing motor angle, γ m be speed reduction ratio of speed reducer of road-sensing motor, Tm be road-sensing motor electromagnetic torque, Jm be road-sensing motor moment of inertia, β m be road-sensing motor damping factor, Um be road-sensing motor end voltage, Rm be road-sensing motor armature resistance, im be road-sensing motor current, Lm be road-sensing motor inductance, Km be road-sensing motor back electromotive force coefficient, Cm be road-sensing motor electromagnetic torque coefficient, the kinetic equation of the steering wheel assembly can be obtained as follows:
the dynamic equation of the road sensing simulation motor model is as follows:
the motors all use permanent magnet direct current motors, and the simplified road induction motors form a motor model;
the relationship between motor torque and current is:
T m ＝C m i m .(4)；
and 3, step 3: modeling a steering execution mechanism, namely reasonably simplifying the structure of the steer-by-wire execution system, respectively carrying out stress analysis on a steering execution motor, a rack and pinion and a steering front wheel, and establishing a mathematical model of the steering execution system;
the system dynamic equation of the gear rack mechanism is as follows:
the dynamic equation of the steering execution motor is as follows:
the relationship between motor torque and current is:
T n ＝C n i n . (9)
in the formula: mr is the rack mass; beta r is a rack damping factor; kgs is the torsional stiffness of the pinion shaft; gamma n is the reduction ratio of the reducer of the steering execution motor; theta n is the rotation angle of the steering execution motor; rp is the steering gear pinion reference circle radius; tlz and Trz are the aligning moments of the left wheel and the right wheel; ll and lr are the lengths of the steering rocker arms of the left front wheel and the right front wheel; tn is the electromagnetic torque of the steering execution motor; jn is the rotational inertia of the steering actuating motor; betan is a damping factor of the steering actuating motor; un is the voltage at two ends of the steering execution motor; rn is resistance at two ends of the steering execution motor; in is the steering execution motor current; ln is the steering actuating motor inductance; kn is the back electromotive force coefficient of the steering execution motor; cn is the electromagnetic torque coefficient of the actuating motor;
and 4, step 4: the method is characterized in that a state tracking correction control strategy based on yaw rate feedback is adopted, an expected front wheel corner of a vehicle is obtained through variable transmission ratio control, under the corner, the vehicle and a linear two-degree-of-freedom model generate different yaw rate values, an active steering controller calculates the difference value of the vehicle and the linear two-degree-of-freedom model to obtain an additional corner, the additional corner is superposed with the expected front wheel corner, the actual yaw rate of the vehicle tracks the ideal yaw rate of the linear two-degree-of-freedom model in real time, and the vehicle can run more stably.
Further improved, as shown in fig. 2: the overall control method of the all-wheel steer-by-wire system comprises the following steps:
step 1: firstly, the vehicle speed and the steering wheel angle acquired by a sensor are used as input signals of a fuzzy controller, and the variable steering transmission ratio of the vehicle is obtained based on a set fuzzy rule and a membership function of the input and output signals;
and 2, step: calculating the front wheel rotation angle of the all-wheel steer-by-wire vehicle according to the ratio between the rotation angle of the steering wheel and the steering transmission ratio;
and 3, step 3: then, acquiring the yaw velocity of the vehicle through a gyroscope, selecting yaw velocity deviation e r and deviation differential e.r as characteristic quantities, dividing an extension set, calculating a correlation function, and dividing the vehicle state into a classical domain, an extension domain and a non-domain;
and 4, step 4: and in the classical domain, tracking the ideal yaw rate as a control target, and controlling the stability of the vehicle by adopting a traditional robust H-infinity control strategy. And adopting an extension control theory in an extension domain and a non-domain to dynamically adjust the output signal of the H-infinity controller.
And 5: and finally, outputting a proper vehicle rear wheel steering angle based on control algorithms in different areas, and improving the operation stability of the all-wheel steer-by-wire vehicle.
The invention combines the advantages of steer-by-wire and four-wheel steering, provides a four-wheel steering automobile optimal control strategy based on the drive-by-wire variable transmission ratio, and feeds back the control variable of the four-wheel steering optimal controller to the variable transmission ratio controller to form closed-loop control so as to control the automobile not to be in a destabilization state, and the variable transmission ratio controller also controls the automobile state according to the change of the automobile speed so as to ensure that the automobile is in an ideal steering state. The four-wheel steering optimal controller not only controls the yaw velocity of the automobile, but also controls the mass center and the side deflection angle of the automobile to be basically zero, and ensures the posture of the running automobile body.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A drive-by-wire steering control method with variable transmission ratio is characterized in that: the method comprises the following steps: the steer-by-wire system comprises a steering operation module, a steering execution module and a central control module, wherein the steering operation module mainly converts a steering wheel corner input by a driver into a digital signal through a sensor and transmits the digital signal to a controller, and transmits a road condition to the driver through a road sense motor, the steering execution module mainly controls the steering motor to drive a front wheel to steer according to a control signal obtained by the controller, and the central control module mainly judges a vehicle motion state according to a sensor signal and controls the road sense motor and the execution motor to enable an automobile to steer normally and provide good road sense for the driver.
2. The variable-gear-ratio steer-by-wire control method according to claim 1, characterized in that: the steer-by-wire control method includes the steps of:
step 1: modeling a steering operation mechanism the steering operation module includes: a steering wheel (sw), a rotation angle sensor, a torque sensor, a road sensing motor and a speed reducing mechanism of the road sensing motor (m);
step 2: the steering wheel and the steering column are regarded as a whole; jsw is the rotational inertia of a steering wheel, theta sw is the rotation angle of the steering wheel, beta sw is the damping factor of a steering column, Tsw is the torque of the steering wheel, Ksw is the torsional rigidity of the steering column, theta m is the rotation angle of a road sensing motor, gamma m is the reduction ratio of a speed reducer of the road sensing motor, Tm is the electromagnetic torque of the road sensing motor, Jm is the rotational inertia of the road sensing motor, beta m is the damping factor of the road sensing motor, Um is the voltage at two ends of the road sensing motor, Rm is the armature resistance of the road sensing motor, im is the current of the road sensing motor, Lm is the inductance of the road sensing motor, Km is the counter electromotive force coefficient of the road sensing motor, and Cm is the electromagnetic torque coefficient of the road sensing motor;
and step 3: modeling a steering execution mechanism, namely reasonably simplifying the structure of the steer-by-wire execution system, respectively carrying out stress analysis on a steering execution motor, a rack and pinion and a steering front wheel, and establishing a mathematical model of the steering execution system;
and 4, step 4: the method is characterized in that a state tracking correction control strategy based on yaw rate feedback is adopted, an expected front wheel corner of a vehicle is obtained through variable transmission ratio control, under the corner, the vehicle and a linear two-degree-of-freedom model generate different yaw rate values, an active steering controller calculates the difference value of the vehicle and the linear two-degree-of-freedom model to obtain an additional corner, the additional corner is superposed with the expected front wheel corner, the actual yaw rate of the vehicle tracks the ideal yaw rate of the linear two-degree-of-freedom model in real time, and the vehicle can run more stably.
3. The variable-gear-ratio steer-by-wire control method according to claim 1, characterized in that: the overall control method of the all-wheel steer-by-wire system comprises the following steps:
step 1: firstly, the vehicle speed and the steering wheel angle acquired by a sensor are used as input signals of a fuzzy controller, and the variable steering transmission ratio of the vehicle is obtained based on a set fuzzy rule and a membership function of the input and output signals;
step 2: calculating the front wheel rotation angle of the all-wheel steer-by-wire vehicle according to the ratio between the rotation angle of the steering wheel and the steering transmission ratio;
and step 3: then, acquiring the yaw velocity of the vehicle through a gyroscope, selecting a yaw velocity deviation er and a deviation differential e.r as characteristic quantities, dividing an extension set, calculating a correlation function, and dividing the vehicle state into a classical domain, an extension domain and a non-domain;
and 4, step 4: and in the classical domain, tracking the ideal yaw rate as a control target, and controlling the stability of the vehicle by adopting a traditional robust H-infinity control strategy. And adopting an extension control theory in an extension domain and a non-domain to dynamically adjust the output signal of the H-infinity controller.
And 5: and finally, outputting a proper vehicle rear wheel steering angle based on control algorithms in different areas, and improving the operation stability of the all-wheel steer-by-wire vehicle.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118082543A (en) * | 2024-04-25 | 2024-05-28 | 华东交通大学 | Four-wheel steering control method of electric automobile based on steering gear ratio |
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| CN111086556A (en) * | 2020-01-03 | 2020-05-01 | 南京航空航天大学 | Intelligent steer-by-wire system and variable transmission ratio optimization method |
| CN113177267A (en) * | 2021-05-26 | 2021-07-27 | 浙江大学 | Full-process multidisciplinary modeling method based on improved fuzzy PID |
-
2022
- 2022-04-01 CN CN202210347290.1A patent/CN114932943A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040088093A1 (en) * | 2002-10-30 | 2004-05-06 | Visteon Global Technologies, Inc. | Expert-type vehicle steering control system and method |
| CN107010104A (en) * | 2017-03-09 | 2017-08-04 | 合肥工业大学 | One kind is based on that sliding formwork line traffic control vehicle run stability control method and system can be opened up |
| CN107512305A (en) * | 2017-08-08 | 2017-12-26 | 南京汽车集团有限公司 | Wire-controlled steering system and its stability control method |
| CN108146430A (en) * | 2017-11-08 | 2018-06-12 | 南京航空航天大学 | A kind of Active suspension and active steering integrated system and its robust control method |
| CN111086556A (en) * | 2020-01-03 | 2020-05-01 | 南京航空航天大学 | Intelligent steer-by-wire system and variable transmission ratio optimization method |
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