论文标题
在不平坦的道路上行驶的机架力的估计和分解
Estimation and Decomposition of Rack Force for Driving on Uneven Roads
论文作者
论文摘要
从前轮胎传输到车辆的转向架（称为架子力）在电动助力转向（EPS）系统的功能中起着重要作用。 EPS可以使用估算机架力量来减轻道路反馈并减少驾驶员的努力。此外，对机架力的组件的估计值（例如，由于转向角度和道路剖面而产生）可用于分别补偿每个组件，从而增强转向感觉。在本文中，我们提出了三个基于车辆和轮胎模型的机架力估计器，它们利用感知的转向角度和道路剖面来估算机架力的总机架力和单个组件。我们通过在低频和高频轮廓变化的道路上进行非攻击性和侵略性转向操作来测试和比较估计器的实时性能。结果表明，对于积极的操纵，使用非线性轮胎模型的估计器会产生更准确的机架力估计。此外，只有结合了半经验刚性环轮胎模型的估计器才能捕获机架力变化，用于在具有高频轮廓变化的道路上驾驶。最后，我们提出了一项模拟研究的结果，以验证机架力的组件估计值。
The force transmitted from the front tires to the steering rack of a vehicle, called the rack force, plays an important role in the function of electric power steering (EPS) systems. Estimates of rack force can be used by EPS to attenuate road feedback and reduce driver effort. Further, estimates of the components of rack force (arising, for example, due to steering angle and road profile) can be used to separately compensate for each component and thereby enhance steering feel. In this paper, we present three vehicle and tire model-based rack force estimators that utilize sensed steering angle and road profile to estimate total rack force and individual components of rack force. We test and compare the real-time performance of the estimators by performing driving experiments with non-aggressive and aggressive steering maneuvers on roads with low and high frequency profile variations. The results indicate that for aggressive maneuvers the estimators using non-linear tire models produce more accurate rack force estimates. Moreover, only the estimator that incorporates a semi-empirical Rigid Ring tire model is able to capture rack force variation for driving on a road with high frequency profile variation. Finally, we present results from a simulation study to validate the component-wise estimates of rack force.
