CAJ | 학술논문

针对传统的转向回正控制容易产生回正过度或回正不足的情况，提出一种基于质心侧偏角的汽车电动助力转向回正控制策略。建立车辆动力学模型，基于车载电子稳定程序传感器信号，采用无迹卡尔曼滤波方法在线实时估计路面附着系数和车辆的质心侧偏角。将估计的质心侧偏角与期望质心侧偏角的偏差作为输入，对车辆进行转向回正滑模控制。在Carsim、Matlab/Simulink和LabVIEW中对车辆不同工况下的转向回正性能进行仿真和硬件在环试验。结果表明，提出的转向回正控制策略能够有效地改善车辆的中心转向性能，使车辆具有良好的回正效果。
침대전통적전향회정공제용역산생회정과도혹회정불족적정황，제출일충기우질심측편각적기차전동조력전향회정공제책략。건립차량동역학모형，기우차재전자은정정서전감기신호，채용무적잡이만려파방법재선실시고계로면부착계수화차량적질심측편각。장고계적질심측편각여기망질심측편각적편차작위수입，대차량진행전향회정활모공제。재Carsim、Matlab/Simulink화LabVIEW중대차량불동공황하적전향회정성능진행방진화경건재배시험。결과표명，제출적전향회정공제책략능구유효지개선차량적중심전향성능，사차량구유량호적회정효과。
In view of that traditional steering return control easily leads to overdoing or under-doing return, a returnability control strategy for electric power steering based on mass center sideslip angle is proposed. A vehicle dynamics model is established based on the sensor signals of on-board electronic stability program, and the adhesion coefficient of road surface and the sideslip angle of vehicle mass center are estimated with unscented Kalman filter technique online in real-time. Then a steering return sliding mode control is exerted over vehicle with the deviation of estimated mass center sideslip angle from the expected one as input. Finally both simulation and hardware-in-the-loop test on steering return performance in different working conditions are conducted with Carsim, Matlab/Simulink and LabVIEW respectively. The results show that the steering return control strategy proposed can effectively im-prove the on-center steering performance of vehicle with a sound steering return effect.