基于驾驶员特性的新型线控转向系统控制机理和评价方法研究

Electronics, intelligence and automation of the vehicle is an effective measure to achieve energy saving, environmental protection, safety and comfort. X-by-wire (XBW) system is an important component to realize the above functions. The novel steer-by-wire （SBW） system that uses joystick to replace the steering wheel also get the great attention and become a hot topic of the major automobile manufacturers, research and development institutions. The major research contents of this project are going to analyze and describe vehicle SBW system control mechanism based on joystick. The dynamic model of system is established to analyze the transparency and stability conditions of SBW control structure. Combine with the differential characteristics of steering wheel and joystick control, a design method of steering angle ratio with variable steering gain in multi-mode is put forward based on the driver characteristic and steering sensitivity. Based on the effects of the force ratio on the performance of the joystick force, the dissertation defined the equivalent assist force characteristics. In order to improve the handling stability, A novel control structure is proposed with bilateral control theory which the design goal for SBW system is to match and coordinate the dynamical relations with steer angle ratio and reactive force ratio. For the research of steering mechanism and reference the traditional handling and stability evaluation methods of vehicle, an evaluation method is proposed, which is suitable for joystick and SBW system. A computer simulation platform, hardware-in-the-loop test bench and test vehicle is presented to verify the research contents. The results of the project have an important significance to improve the handling and comfort performance of vehicle and key theory technologies for joystick havs been resolved in order to provide well fundamental theories and technological support for self-developed SBW system through the research.

电子化、智能化和自动化是实现汽车节能、环保、安全和舒适的有效措施。线控技术是实现上述概念的重要组成，基于操纵杆取代转向盘的新型线控转向系统也得到世界各大汽车厂家和研发机构的重视并成为研究热点。本项目以操纵杆控制的新型线控转向汽车的转向控制机理为研究对象，通过建立系统模型和无源稳定性理论，研究该线控转向系统控制结构的透明性和稳定性条件。结合驾驶员特性和操纵杆特点，采用变转向增益方法设计多模式转向角传动比以及通过当量助力方法设计力传动比，并基于新型双向控制结构有效地融合转向角传递特性和力传递特性，提高汽车转向性能。参考传统汽车的操纵稳定性主客观评价体系，提出适用于操纵杆线控转向汽车的评价方法。采用计算机仿真、硬件在环试验和实车试验相结合的方法对提出的理论进行验证。项目的研究成果对于提高新型线控转向汽车操纵性和舒适性具有重要意义，可以为基于操纵杆控制的线控汽车实际应用提供理论基础和技术支持。

电子化、智能化和自动化是实现汽车节能、环保、安全和舒适的有效措施。线控技术是实现上述概念的重要组成，基于操纵杆取代转向盘的新型线控转向系统也得到了世界各大汽车厂家和研发机构的重视并成为研究热点。本项目以基于操纵杆控制的新型线控转向汽车的转向控制机理为研究对象，通过建立系统模型和无源稳定性理论，研究该线控转向系统控制结构的透明性和稳定性条件。提出PO/PC无源稳定性方法设计了操纵杆线控转向系统控制系统。通过有效调节波阻抗数值，保证了系统转角和转矩同时达到控制目标。通过对驾驶员转向行为进行有效分类，通过采集多名驾驶员的实验数据，建立驾驶员转向行为数据库。在所完成数据库建立的基础上，建立行为辨识模型，采用K-means算法将驾驶员转向行为特征分为激进型、较为激进型、较为保守型和保守型等类别,作为将每个驾驶员的转向行为归类模板，从而实现适用于不同驾驶员喜好的转向传动比的设计。结合操纵杆的控制特点，采用变转向增益方法设计多模式转向角传动比以及通过当量助力方法设计力传动比，并基于新型双向控制结构有效地融合转向角传递特性和力传递特性，提高汽车转向性能。在转向角传动比方面，分别设计了定横摆角速度增益和变横摆角速度增益的两种变传动比设计方法，并进行了对比。在转向力传动比方面，重点研究一种操纵杆力反馈可调的路感模拟系统和控制方法，由当量助力和补偿控制共同组成。其中，当量助力可以准确将路面状况、轮胎动力学特性和车辆行驶状态反馈给驾驶员；补偿控制主要通过调节路感系统的相关参数，进而实现对路感特性的各项指标进行调整，实现良好地路感反馈。此外，参考传统汽车的操纵稳定性主客观评价体系，提出适用于操纵杆线控转向汽车的评价方法。采用计算机仿真、硬件在环试验和实车试验相结合的方法对提出的理论进行验证。项目的研究成果对于提高新型线控转向汽车操纵性和舒适性具有重要意义，可以为基于操纵杆控制的线控汽车实际应用提供理论基础和技术支持。