商用车电液耦合转向系统主动回正控制研究

doi:10.19562/j.chinasae.qcgc.2021.06.014

Abstract

Abstract:

Aiming at the problem of under?return at low speed and over?return at high speed of commercial vehicle with traditional hydraulically assisted steering system， a nonlinear sliding mode controller with associated control of vehicle’s mass?center sideslip angle and yaw rate is designed based on electro?hydraulic coupling steering system， with concurrent consideration of the effects of load transfer， road condition and tire’s nonlinearity on returnability. In view of the difficulties in obtaining some state variables of control algorithm and directly measuring road adhesive coefficient， which affects the return stability of steering wheel， the unscented Kalman filter observer is utilized as sliding mode controller to dynamically estimate vehicle state information and road adhesive coefficient， and the differences between the observed value and the desired value of mass?center sideslip angle and yaw rate are taken as the input of the control system to find out the required angle correction for returnability control. Finally， simulations with Trucksim and Matlab/Simulink and steering bench tests are conducted on the retrunability performance of steering wheel under different conditions， and the results show that the active returnability control strategy proposed can effectively enhance the stability and control accuracy of steering wheel returnability.

Key words: commercial vehicle, electro?hydraulic coupling steering system, UKF observer, sliding mode control

Guoqing Geng,Hao Li,Haobin Jiang,Jie Chen,Bin Tang. Research on Active Returnability Control for Electro⁃hydraulic Coupling Steering System of Commercial Vehicles[J].Automotive Engineering, 2021, 43(6): 899-908.

Figures/Tables 17

参数	数值
车辆整备质量 $m / k g$	5 480
最大负载质量 $/ k g$	12 520
最大总质量 $/ k g$	18 000
质心距前轴距离 $a / m m$	1 110
质心距后轴距离 $b / m m$	4 190
整车绕 $Z$ 轴的转动惯量 $I z / k g ? m 2$	53 799.48
质心高度 $h g / m m$	1 175
前轮轮胎侧偏刚度 $C y / N · r a d - 1$	130 000
后轮轮胎侧偏刚度 $C y / N · r a d - 1$	280 000
蜗轮蜗杆传动比 $i 1$	21
电机电感系数 $L / H$	0.000 59
电机电阻 $R / Ω$	0.055 5
电机转动惯量 $J m / k g ? m 2$	0.001 54
电机阻尼系数 $B m / N ? m ? s - 1$	2.75 $× 10 - 5$
反电动势系数 $K e$	0.023 7
电磁转矩系数 $K m$	0.156
螺母质量 $m l m / k g$	5.44
齿扇节圆半径 $r s / m m$	42
扭杆刚度系数 $K s$	168.49

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控制方法	低速回正		高速回正
控制方法	残余角 /（°）	回正时间/s	转角最大超调量/（°）	回正时间/s
无回正控制	9.940	4.53	38.692	3.20
单独横摆角速度回正控制	4.325	3.06	19.873	2.45
单独质心侧偏角回正控制	1.368	2.68	15.120	1.92
联合滑模回正控制	0.015	1.36	7.481	1.54

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Research on Active Returnability Control for Electro⁃hydraulic Coupling Steering System of Commercial Vehicles

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