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Compensation of low performance steering system using torque vectoring

机译：使用扭矩矢量补偿低性能转向系统

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摘要

In this work torque vectoring methods are used to compensate for a low performancesteer-by-wire system. Currently a number of vehicle manufacturers are considering introducing steer-by-wire into their range of vehicles. Some of the key concerns for the manufacturers are safety and cost. The safety can be subdivided in the integrity of the steering system and the effect on handling.The focus of this study is the use of low cost steering actuators on a vehicleand identify its effects on the vehicle's handling response. The test vehicleis dune buggy modified to accommodate the low performance steer-by-wire system without a direct mechanical link between the steering wheel and the wheels and equipped with various sensors to data recording.In order to investigate the influence of torque vectoring system on the steer-by-wire, an eight degrees of freedom vehicle model in Matlab/Simulink has been developed. The eight degrees of freedom are longitudinal and lateraltranslations, yaw and roll motion and rotation of each wheel. The Matlab/Simulink model also includes the dynamics of the actuators, which is validated against the experimental data. The actuator was shown to have a bandwidth of less than 0.3 Hz. The eight degrees of freedom model's responsewas validated against experimental data for both steady state and transient response up to 0.5 g. The tyre forces and moments are implemented by using the Dugoff tyre model, which has been validated against experimentally measured data. The torque vectoring system uses the cascade approach based on a reference model, which uses a two degrees of freedom (bicycle model) to generate the reference signal for control purposes. The upper level yaw controller isbased on the optimal control theory and uses the LQR (Linear-quadratic regulator) approach. The lower level wheel slip controller is based on a slidingmodestructure and prevents tyre force saturation. The simulation resultsshow that the vehicle augmented with the torque vectoring system outperformsthe low performance steer-by-wire vehicle and also the vehicle with conventional steering arrangement.
机译：在这项工作中，转矩矢量化方法用于补偿低性能的线控转向系统。当前，许多车辆制造商正在考虑将线控转向引入其车辆范围。对于制造商而言，一些关键问题是安全性和成本。安全性可以细分为转向系统的完整性和对操纵的影响。本研究的重点是在车辆上使用低成本转向执行器，并确定其对车辆操纵响应的影响。测试车辆经过沙丘越野车改装，以适应低性能的线控转向系统，在方向盘和方向盘之间没有直接机械链接，并配备了各种传感器进行数据记录。为了研究扭矩矢量系统对转向系统的影响线控转向，已在Matlab / Simulink中开发了八自由度车辆模型。八个自由度是纵向和平移，每个车轮的横摆和横摆运动以及旋转。 Matlab / Simulink模型还包括执行器的动力学，该动力学已根据实验数据进行了验证。已显示执行器的带宽小于0.3 Hz。相对于高达0.5 g的稳态和瞬态响应的实验数据验证了八自由度模型的响应。轮胎力和力矩通过使用Dugoff轮胎模型实现，该模型已根据实验测量数据进行了验证。扭矩矢量系统使用基于参考模型的级联方法，该方法使用两个自由度（自行车模型）来生成用于控制目的的参考信号。上层偏航控制器基于最佳控制理论，并使用LQR（线性二次调节器）方法。下层车轮打滑控制器基于滑模结构，可防止轮胎力饱和。仿真结果表明，增加了扭矩矢量系统的车辆优于低性能的线控转向车辆，也优于具有常规转向装置的车辆。

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    Awan M A;

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  • 年度 2014
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  • 正文语种 {"code":"en","name":"English","id":9}
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