线控转向系统控制技术综述

doi:10.3969/j.issn.1674-8484.2021.01.002

汽车安全与节能学报 ›› 2021, Vol. 12 ›› Issue (1): 18-34.DOI: 10.3969/j.issn.1674-8484.2021.01.002

线控转向系统控制技术综述

赵万忠¹^,²(), 张寒¹^,², 邹松春², 徐坤豪², 刘畅²

1.江苏省车辆分布式驱动与智能线控技术工程研究中心,南京 210016,中国
2.南京航空航天大学能源与动力学院,南京 210016,中国

收稿日期:2021-05-02 出版日期:2021-03-31 发布日期:2021-04-02
作者简介:赵万忠(1982—),男(汉族),江苏,教授。E-mail： zwz@nuaa.edu.cn。赵万忠教授博士,南京航空航天大学能源与动力学院副院长,车俩工程系系主任,江苏省分布式驱动与智能线控工程技术中心主任,国家万人计划专家。入选了国家万人计划、江苏省“333工程”中青年学术带头人、江苏省六大人才高峰高层次人才培养对象、江苏省青蓝工程、江苏省双创计划、南京市科技顶尖专家（院士和新研A类人才）等国家和省部级高层次人才。
Prof. ZHAO Wanzhong Prof. ZHAO Wanzhong obtained his Ph D. in Vehicle Engineering and now he is the deputy dean of the College of Energy and Power Engineering, the head of the Vehicle Engineering Department, Nanjing University of Aeronautics and Astronautics, and the director of the Vehicle Distribute Drive and Intelligent Control-by-Wire Technology Research Center of Jiangsu Province. He is selected as one of National Ten Thousand Talent Program Leading Scientists, Young and Middle Aged Academic Leaders of Jiangsu 333 Project, High Level Talents Scientists of Six Talent Peaks in Jiangsu Province, Jiangsu Plue Project Experts, Jiangsu Entrepreneurship and Innovation Plan Experts, Nanjing Top Experts in Science and Technology (Academicians and Newly Developed Class A Talents), etc.
基金资助:
国家自然科学基金资助项目(52072175);江苏省自然科学基金资助项目(BK20200423)

Overview of vehicle steer-by-wire system control technologies

ZHAO Wangzhong¹^,²(), ZHANG Han¹^,², ZOU Songchun², XU Kunhao², LIU Chang²

1. Vehicle Distribute Drive and Intelligent Control-by-Wire Technology Research Center of Jiangsu Province, Nanjing 210016, China
2. Nanjing University of Aeronautics and Astronautics, College of Energy and Power Engineering, Nanjing 210016, China

Received:2021-05-02 Online:2021-03-31 Published:2021-04-02

摘要/Abstract

摘要：

线控转向系统通过线控化、智能化可以实现个性驾驶、辅助驾驶、无人驾驶等目标,是智能网联汽车落地的关键技术,其相关动力学控制技术更是影响线控转向系统整体性能的核心技术。该文介绍了线控转向系统的基本结构类型及其动力学建模,分别对线控转向系统的路感控制技术、稳定性控制技术、容错控制技术等关键技术进行了全面概述,分析了线控转向技术的发展历程和研究现状及其在智能汽车上的应用状况;对线控转向系统的未来研究趋势进行了展望,指出线控转向系统的控制技术将向着执行精准、全工况覆盖、平行驾驶、安全可靠和智能网联的方向发展。

关键词: 线控转向, 路感控制, 稳定性控制, 容错控制, 智能网联汽车

Abstract:

Steer-by-wire system can achieve the goal of personalized driving, assistant driving and unmanned driving through control-by-wire and intelligent control technology. It is the key technology of intelligent networked vehicle landing, and its related dynamic control technology is the core technology that affects the comprehensive performance of steer-by-wire system. This paper introduces the basic structure types and dynamic modeling of the steer-by-wire system, and summarizes the road feel control technology, stability control technology, fault-tolerant control technology and steer-by-wire control technology for intelligent vehicles in full scale. The development process and research status of the steer-by-wire system are analyzed in detail. Finally, the future research trend of steer-by-wire system is prospected. It can be predicted that the control technology of steer-by-wire system will be developed in the direction of accurate execution, full condition coverage, parallel driving, safe and reliable application, and intelligent network connection.

Key words: steer-by-wire, road feeling control, stability control, fault tolerant control, intelligent networked vehicle

中图分类号:

U463.4

赵万忠, 张寒, 邹松春, 徐坤豪, 刘畅. 线控转向系统控制技术综述[J]. 汽车安全与节能学报, 2021, 12(1): 18-34.

ZHAO Wangzhong, ZHANG Han, ZOU Songchun, XU Kunhao, LIU Chang. Overview of vehicle steer-by-wire system control technologies[J]. Journal of Automotive Safety and Energy, 2021, 12(1): 18-34.

图/表 11

图1 前轮线控转向系统

图2 前后轴分布式线控转向

图3 四轮分布式线控转向

图4 转向盘及转向管柱集成

图5 直流电机等效电路图

图6 四轮独立转向系统执行机构

图7 线控转向系统位移特性典型控制方法 1—驾驶员输入转角;2—理想前轮转角;3—电机控制电流/电压;4—转向电机输出扭矩;5—前轮转角;6—横摆角速度、质心侧偏角、侧向加速度、车速等;7—理想横摆角速度、质心侧偏角、侧向加速度等;

图8 线控转向分层滑模控制策略

图9 线控转向系统双电机冗余同步控制结构

图10 传感器故障诊断方法及信号重构容错控制算法

图11 面向智能汽车的线控转向控制流程

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线控转向系统控制技术综述

Overview of vehicle steer-by-wire system control technologies

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