基于LuGre模型的商用车原地转向阻力矩
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摘要
商用车助力系统需要保证在原地转向时驾驶员能够转动转向盘,而此时的转向阻力矩最大,因此原地转向阻力矩是商用车助力系统设计的重要依据之一。该文对整车与转向系统进行了动力学分析,引入LuGre模型对轮胎与地面间摩擦阻力矩进行动力学分析,分别得到了重力回正力矩模型和转向摩擦阻力矩模型,从而构建了商用车原地转向阻力矩模型。借助该模型对商用车原地转向阻力矩及其与转向盘转角的关系规律进行了仿真分析,仿真与试验结果一致。结果表明:该模型能够反映出商用车原地转向阻力矩与转向盘转角之间的关系规律,可作为商用车助力系统设计的理论依据。
When a commercial truck turns while stationary,the power steering system needs to ensure that the driver can turn the wheels at this moment with the greatest steering resistance torque.Therefore,the stationary steering resistance torque of a truck is an important factor when designing power steering systems.The LuGre friction theory model for the friction resistance between the tire and the ground was used with models of the whole vehicle and its steering system to predict the gravity aligning torque and the steering friction resistance torque.The predictions gave the stationary steering resistance torque and the relationship between the torque and the steering wheel angle of commercial trucks.The results agree well with experimental data showing that this model accurately reflects the relationship between the stationary steering resistance torque and the steering wheel angle for improved power steering system designs.
When a commercial truck turns while stationary,the power steering system needs to ensure that the driver can turn the wheels at this moment with the greatest steering resistance torque.Therefore,the stationary steering resistance torque of a truck is an important factor when designing power steering systems.The LuGre friction theory model for the friction resistance between the tire and the ground was used with models of the whole vehicle and its steering system to predict the gravity aligning torque and the steering friction resistance torque.The predictions gave the stationary steering resistance torque and the relationship between the torque and the steering wheel angle of commercial trucks.The results agree well with experimental data showing that this model accurately reflects the relationship between the stationary steering resistance torque and the steering wheel angle for improved power steering system designs.
引文
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[16]王同建.装载机线控转向技术研究[D].长春:吉林大学,2006.WANG T J.Research of steer-by-wire technology on wheel loder[D].Changchun:Jilin University,2006.(in Chinese)
[17]VELENIS E,TSIOTRAS P,CANUDAS-DE-WIT C,et al.Dynamic tyre friction models for combined longitudinal and lateral vehicle motion[J].Vehicle System Dynamics,2005,43(1):3-29.
[2]李晓雷,李湘臣,皮志兵,等.JXK6822BEV纯电动客车转向匹配设计与测试[J].客车技术与研究,2017,39(2):12-14.LI X L,LI X C,PI Z B,et al.Matching design and test for JXK6822BEV pure electrical bus steering system[J].Bus&Coach Technology and Research,2017,39(2):12-14.(in Chinese)
[3]CHEON D S,NAM K H.Steering torque control using variable impedance models for a steer-by-wire system[J].International Journal of Automotive Technology,2017,18(2):263-270.
[4]ZHAO W Z,LI Y J,WANG C Y.Robust control of hand wheel torque for active front steering system[J].Science China Technological Sciences,2015,58(1):107-116.
[5]范璐,周兵.低附着路面电动助力转向系统助力控制研究[J].汽车工程,2014,36(7):862-866,878.FAN L,ZHOU B.A study on the assistance control of electric power steering system on low-adhesion roads[J].Automotive Engineering,2014,36(7):862-866,878.(in Chinese)
[6]周兵,徐蒙,范璐.低附着路面电动助力转向控制策略[J].湖南大学学报(自然科学版),2015,42(2):29-34.ZHOU B,XU M,FAN L.Control strategy for electric power steering on low friction coefficient roads[J].Journal of Hunan University(Natural Sciences),2015,42(2):29-34.(in Chinese)
[7]吕绪宁.汽车主动横向稳定杆与主动前轮转向协调控制研究[D].长沙:湖南大学,2014.LU X N.Research on coordinated control of active roll stabilizer and active front steering system for vehicle[D].Changsha:Hunan University,2014.(in Chinese)
[8]张小江,丁宏刚,朱亚夫,等.重型车辆轮胎原地转向阻力矩研究[J].机械设计与制造,2013(1):217-219.ZHANG X J,DING H G,ZHU Y F,et al.Research on steering resisting moment of heavy vehicle during spot turn[J].Machinery Design&Manufacture,2013(1):217-219.(in Chinese)
[9]杨翔宇,吕世明,李楠,等.汽车转向系统回正力矩模型的比较及仿真研究[J].机械设计与制造,2016(2):258-262.YANG X Y,LS M,LI N,et al.Comparison and simulation of aligning torque models of vehicle steering system[J].Machinery Design&Manufacture,2016(2):258-262.(in Chinese)
[10]曾志辉.由前轮转角及车速确定的前轮转向阻力矩的研究[J].时代汽车,2016(6):47-48.ZENG Z H.Research on front wheel steering resistance moment determined by front wheel angle and speed[J].Auto Time,2016(6):47-48.(in Chinese)
[11]刘竞一,汪随风,周建文.原地转向阻力矩计算优化和试验验证[J].拖拉机与农用运输车,2016,43(6):14-18,23.LIU J Y,WANG S F,ZHOU J W.Calculation optimization and test validation of pivot steering resistance torque[J].Tractor&Farm Transporter,2016,43(6):14-18,23.(in Chinese)
[12]CHO Y G.Vehicle steering returnability with maximum steering wheel angle at low speeds[J].International Journal of Automotive Technology,2009,10(4):431-439.
[13]VAN ENDE K T R,KUCUKAY F,HENZE R,et al.Vehicle and steering system dynamics in the context of on-centre handling[J].International Journal of Automotive Technology,2015,16(5):751-763.
[14]党建民,陈慧,赵祥磊,等.中间位置转向力特性主客观评价相关性的研究[J].汽车工程,2015,37(8):946-950.DANG J M,CHEN H,ZHAO X L,et al.A study on the correlation between subjective and objective evaluations for on-center steering force characteristics[J].Automotive Engineering,2015,37(8):946-950.(in Chinese)
[15]耶尔森·赖姆帕尔.汽车底盘基础[M].张洪欣,余卓平,译.北京:科学普及出版社,1992.YERSON.Automobile chassis foundation[M].ZHANG HX,YU Z P,Trans.Beijing:Science Popularization Press,1992.(in Chinese)
[16]王同建.装载机线控转向技术研究[D].长春:吉林大学,2006.WANG T J.Research of steer-by-wire technology on wheel loder[D].Changchun:Jilin University,2006.(in Chinese)
[17]VELENIS E,TSIOTRAS P,CANUDAS-DE-WIT C,et al.Dynamic tyre friction models for combined longitudinal and lateral vehicle motion[J].Vehicle System Dynamics,2005,43(1):3-29.
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