基于多MAP图的商用车电动助力转向控制策略

doi:10.3969/j.issn.1674-8484.2022.01.008

摘要/Abstract

摘要：

为解决前轴轻载荷和低路面附着因数工况下传统电动助力转向(EPS)降低驾驶员路感的问题,提出设计了基于多MAP图的EPS控制策略。该策略中,考虑了不同前轴载荷和路面附着因数对转向阻力矩的影响,采用反向传播(BP)神经网络计算不同工况下所需转向助力矩。通过Trucksim与Simulink联合仿真,验证评价了基于多MAP图的EPS控制策略。结果表明：基于多MAP图的EPS控制策略使车辆具有良好的转向轻便性,转向手力矩特性符合商用车理想转向盘转矩特性,可在轻载和低附着因数工况下增大转向盘转矩梯度,驾驶员中心转向区路感平均提升212%,改善了行驶安全性。

关键词: 电动助力转向(EPS), 驾驶员路感, 路面附着因数, 前轴载荷, 多MAP图, 商用车

Abstract:

An electric power steering (EPS) control strategy based on multi-MAP was proposed to decrease driver’s road feeling, and to solve the problem that traditional EPS gives too much assist torque under the conditions of a vehicle with light front axle load driving on the road with low adhesion coefficient. This control strategy considered front axle load and road adhesion coefficient based on the change of steering resistance torque under different front axle loads and adhesion coefficients. Determined steering resistance torque under different front axle load and adhesion coefficient by using the Back Propagation (BP) neutral network. This strategy was evaluated through the co-simulation of Trucksim and Simulink. The results show that the proposed EPS control strategy makes the vehicle have good steering portability, handling torque meet the ideal handling torque of commercial vehicle. The steering wheel torque gradient can be increased under light load and low adhesion factor conditions, and the road feel in the driver’s center steering area is increased by an average of 212%, improving driving safety.

Key words: electric vehicles (EV), direct drive in-wheel motors, speed sensors, fault diagnosis, fault tolerant control

中图分类号:

U463.21

李耀华, 何杰, 范吉康. 基于多MAP图的商用车电动助力转向控制策略[J]. 汽车安全与节能学报, 2022, 13(1): 86-94.

LI Yaohua, HE Jie, FAN Jikang. Control strategy of electric power steering for commercial vehicle based on Multi-MAP[J]. Journal of Automotive Safety and Energy, 2022, 13(1): 86-94.

图/表 21

参考文献 32

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整备质量	12 t	质心到前轴距离	4 m
总质量	16 t	前轴载荷	53.33 kN
后轴载荷	166.67 kN	轴距	6 m
长×宽×高	12m×2.5 m×3.5 m	转向盘直径	0.5 m
质心高度	1.35 m	扭转弹簧刚度	700 Nm·rad^-1
最高车速	70 km·h^-1	转向器传动比	25

整备质量	12 t	质心到前轴距离	4 m
总质量	16 t	前轴载荷	53.33 kN
后轴载荷	166.67 kN	轴距	6 m
长×宽×高	12m×2.5 m×3.5 m	转向盘直径	0.5 m
质心高度	1.35 m	扭转弹簧刚度	700 Nm·rad^-1
最高车速	70 km·h^-1	转向器传动比	25

F_zf / kN	μ	T_r / Nm
40.0	0.2	25.1
40.0	0.8	30.3
46.7	0.4	34.0
46.7	0.8	35.4
53.3	0.2	34.5
53.3	0.4	39.2
53.3	0.6	40.0
53.3	0.8	40.7

F_zf / kN	μ	T_r / Nm
40.0	0.2	25.1
40.0	0.8	30.3
46.7	0.4	34.0
46.7	0.8	35.4
53.3	0.2	34.5
53.3	0.4	39.2
53.3	0.6	40.0
53.3	0.8	40.7

μ	F_zf / kN	T_r/ Nm
μ	F_zf / kN	v /(km·h^-1) = 0	20	30	40	50	60	70
0.8	53.33	190.40	113.5	97.18	92.89	91.12	90.11	89.42
0.8	50.00	172.90	103.34	88.48	84.50	82.86	81.90	81.23
0.8	46.67	155.90	93.39	79.87	76.20	74.67	73.81	73.17
0.8	43.33	139.40	83.53	71.36	68.02	66.61	65.79	65.20
0.8	40.00	123.7	73.98	63.26	60.29	59.02	58.3	57.79
0.2	53.33	47.60	42.07	37.82	36.19	35.42	34.97	34.66
0.2	50.00	43.20	38.57	34.55	33.04	32.32	31.90	31.61
0.2	46.67	39.00	35.25	31.45	30.04	29.38	28.99	28.72
0.2	43.33	34.90	32.27	28.70	27.39	26.77	26.41	26.16
0.2	40.00	30.90	29.30	25.96	24.76	24.18	23.84	23.61