汽车工程 ›› 2024, Vol. 46 ›› Issue (5): 816-829.doi: 10.19562/j.chinasae.qcgc.2024.05.008

• • 上一篇    

商用车电控转向系统的发展现状与趋势

董梒1,2,季学武2,陶书鑫2,蒋体通2,何祥坤3,王恒1,刘亚辉2()   

  1. 1.北京科技大学自动化学院,北京 100083
    2.清华大学车辆与运载学院,北京 100084
    3.南洋理工大学机械与航空航天工程学院,新加坡 639798
  • 收稿日期:2023-08-29 修回日期:2023-11-04 出版日期:2024-05-25 发布日期:2024-05-17
  • 通讯作者: 刘亚辉 E-mail:liuyahui@tsinghua.edu.cn

Development Status and Trends of Electronic Control Steering Systems for Commercial Vehicles

Han Dong1,2,Xuewu Ji2,Shuxin Tao2,Titong Jiang2,Xiangkun He3,Heng Wang1,Yahui Liu2()   

  1. 1.School of Automation,University of Science and Technology Beijing,Beijing  100083
    2.School of Vehicle and Mobility,Tsinghua University,Beijing  100084
    3.School of Mechanical and Aerospace Engineering,Nanyang Technological University,Singapore  639798
  • Received:2023-08-29 Revised:2023-11-04 Online:2024-05-25 Published:2024-05-17
  • Contact: Yahui Liu E-mail:liuyahui@tsinghua.edu.cn

摘要:

商用车转向系统的电控化是实现商用车节能化和智能化的必由之路,为此商用车转向系统从传统的液压助力转向系统发展到以电液耦合助力转向系统为代表的电控转向系统。本文将对商用车电控转向技术进行综述,从电控转向系统的典型构型、智能转向控制和功能安全设计3个方面对商用车电控转向技术的研究进行梳理,总结电控转向技术的重点研究领域和未来发展方向。梳理总结发现:(1) 在系统构型方面,商用车电控转向系统以电液耦合转向助力技术为主,着重于实现商用车智能转向功能,同时兼顾节能化需求;商用车电动助力转向系统是未来理想的电控转向技术方案。(2) 在智能控制方面,为了适应商用车智能化的发展,转向执行控制着重于解决液压系统所造成的非线性与时滞性问题以及轨迹跟随过程中的横向动力学控制难题;辅助驾驶功能着重于克服液压系统的非线性导致的转向力矩不连续以及人机控制权的分配;自动驾驶功能着重于提升安全性与燃油经济性。(3)在系统功能安全设计方面,商用车电控转向系统着重于设计符合功能安全标准的故障诊断与容错控制策略。

关键词: 商用车电控转向系统, 智能转向控制, 功能安全, 容错控制策略

Abstract:

The electrification of commercial vehicle steering systems is a necessary path to achieve energy efficiency and intelligence of commercial vehicles. As a result, commercial vehicle steering systems have evolved from traditional hydraulic power steering systems to electrically controlled steering systems, represented by electro-hydraulic coupling power steering systems. This article provides an overview of electrically controlled steering technology of commercial vehicles, summarizing the research on electrically controlled steering technology in terms of typical system configurations, intelligent steering control, and functional safety design to conclude the key research areas and future development trend. The following key findings are summarized: (1) In terms of system configurations, commercial vehicle electrically controlled steering systems primarily focus on electro-hydraulic coupling power steering technology, emphasizing the realization of intelligent steering functions while considering energy efficiency requirements. Electric power steering systems for commercial vehicles are ideal future solutions for electrically controlled steering technology. (2) In terms of intelligent control, to adapt to the development of intelligent commercial vehicles, steering execution control focuses on addressing nonlinearity and timeliness issues caused by hydraulic systems, as well as the challenging lateral dynamics control during trajectory tracking. Assistance driving functions focus on overcoming discontinuities in steering torque caused by the nonlinearity of hydraulic systems and the allocation of human-machine control authority. Autonomous driving functions focus on enhancing safety and fuel economy. (3) In terms of functional safety design, commercial vehicle electrically controlled steering systems focus on the design of fault diagnosis and fault-tolerant control strategies that comply with functional safety standards.

Key words: commercial vehicle steering system, intelligent steering control, functional safety, fault tolerant control strategy