Control strategy of electric power steering for commercial vehicle based on Multi-MAP

doi:10.3969/j.issn.1674-8484.2022.01.008

Abstract

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

CLC Number:

U463.21

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.

Figures/Tables 21

References 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