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首页> 外文会议>EAEC European automotive congress >TWO DEGREE OF FREEDOM YAW RATE CONTROL BASED ON REACTIVE TORQUE FOR DRIVER STEERING
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TWO DEGREE OF FREEDOM YAW RATE CONTROL BASED ON REACTIVE TORQUE FOR DRIVER STEERING

机译：基于驾驶员转向的反应扭转的两度自由横摆率控制

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摘要

In the past, some steering structures and control methods to stabilize vehicle motion have been studied. Active front steering (AFS) system controls the front axle wheel angle automatically to stabilize vehicle dynamics with variable gear ratio by planetary gear or harmonic gear or steer-by-wire system. The driver receives reaction torque from road surface via steering wheel. The driver needs the torque for steering operation. In case of the steering system with variable gear ratio, the reaction torque control is difficult because of causing steering interference between steering torque and road reaction torque during AFS operation. On the other hand, steer-by-wire can decouple the interference. However, the driver can not receive road information due to separation between steering wheel and the front axle wheel. This paper proposes to control vehicle motion characteristics dynamically without variable gear ratio structure or steer-by-wire. It consists of electric power assist steering and differential torque with In-Wheel-Motors on electric vehicle. In addition, we propose two degree of freedom of variable assist torque control. Our proposed method combined with these techniques can control both vehicle dynamics and road reaction torque. And it will provide driver-friendly man-machine interface to reduce driver operation errors and traffic accidents.
机译：在过去，已经研究了一些转向结构和控制方法来稳定车辆运动。主动前转向（AFS）系统自动控制前轴轴角，通过行星齿轮或谐波齿轮或逐线系统稳定具有可变齿轮比的车辆动态。驱动器通过方向盘从路面接收反应扭矩。驾驶员需要转向操作的扭矩。在具有可变齿轮比的转向系统的情况下，由于在AFS操作期间引起转向扭矩和道路反应扭矩之间的转向干扰，反应扭矩控制很困难。另一方面，逐线可以将干扰耦合。然而，由于方向盘和前轴轮之间的分离，驾驶员无法接收道路信息。本文建议在没有可变齿轮比结构或逐线的情况下动态地控制车辆运动特性。它包括电动辅助转向和电动车载车载电机的差动扭矩组成。此外，我们提出了两种程度的可变辅助扭矩控制。我们所提出的方法结合这些技术可以控制车辆动力学和道路反应扭矩。它将提供驾驶员友好的人机界面，以减少驾驶员操作错误和流量事故。

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