电动转向系统助力特性研究

以装在中型轿车上的齿轮轴式电动转向系统为研究对象，建立该系统的三自由度动态模型，分析影响转向助力特性的变量，提出简化的转向阻力计算公式及助力增益与车速关系。以实车参数为基础，得到非线性的助力特性图。通过分析该图，表明该助力特性符合实际系统的控制规律，为系统的设计与控制提供依据。此外，本文的研究方法对求不同车型的助力特性有较好的通用性。     

汽车电动助力转向系统助力性能的仿真研究

助力性能是评价汽车电动助力转向系统性能的重要指标，助力性能直接关系到汽车转向操作的安全性。以电动助力转向系统的跟踪性能和稳定性为控制系统设计目标，将经典控制理论的PID控制与虚拟样机技术相结合应用于电动助力转向控制系统的设计，创建了电动助力转向系统机电一体化仿真模型。计算机仿真结果证实．所设计的PID控制算法使电动助力转向系统具有良好的跟踪性能和稳定性，仿真结果为电动助力转向控制系统的设计提供了依据。     

电子控制电动助力转向系统的研究与发展

本文简要介绍了汽车转向系统的发展历程，重点讨论一种新型的转向系统一电子控制电动助力转向系统(EPS)，并同传统的转向系统进行了对比，分析了电动助力转向系统的特性，阐述了电动助力转向系统的基本结构、工作原理和评价指标，指出了电动助力转向系统今后的发展方向和趋势。     

汽车EPS试验台液压控制系统设计

根据汽车电动助力转向系统（EPS）及路面阻力的特点,分析了电动助力转向试验台液压加载装置的主要功能需求,设计了此液压控制系统。介绍液压加载装置的结构和工作方式,着重研究了液压加载装置控制系统的控制过程及其功能的实现,并进行了功能测试。     

基于uCOS—Ⅱ的嵌入式汽车EPS试验台液压控制系统设计

根据汽车电动助力转向系统及路面阻力的特点。分析了电动助力转向试验台液压加载装置的主要功能,设计了基于ARM7的液压控制系统。软件设计中移植了uCOS—Ⅱ操作系统,采用多任务程序设计方法,大大降低了编写程序的复杂度。实验表明系统设计可靠,能够达到良好的控制效果。     

单片机控制的汽车电动助力转向系统

电动助力转向是一种新型汽车动力转向技术。提出了一种微处理器采用P87C591单片机控制的汽车电动助力转向方案，系统采用闭环电流控制，利用PWM技术调节电机端电压达到控制电机电流(力矩)的目的。实验表明，该系统具有良好的电动助力转向特性。     

汽车电动助力转向系统的研究现状及发展趋势

文章介绍了电动助力转向系统的基本结构和工作原理,对目前的助力控制、回正控制、阻尼控制等控制策略进行了分析,对控制器和电动助力转向系统的稳定性进行了分析,并对电动助力转向系统的发展趋势提出了一些展望。     

电动助力转向助力控制策略的研究

电动助力转向是汽车动力转向的新技术与新结构，助力控制是电动且力转向的基本控制策略，并决定电动助力转向的助力特性。着重讨论了电动助力控制的一般过程、电动机目标电流的决策方法、电动机电流的控制策略等问题。台架试验表明，提出的控制策略是有效的，对电动助力迥的开发有指导意义。     

基于EPS的车道保持辅助系统设计

针对车道保持辅助系统与电动助力转向功能的集成问题,设计了一种车道保持辅助系统架构。车道保持辅助力矩与电动助力转向力矩相叠加,经EPS电机输出;电动助力转向功能始终开启,保证驾驶员可以随时介入转向。综合考虑车道线检测置信度、跨道时间以及驾驶员操作状态等信息,设计了车道保持辅助系统的介入和退出策略。利用驾驶模拟器对该策略进行了测试,并通过道路试验验证了该系统的安全性和舒适性。     

基于模糊PD控制的电动助力转向系统建模及仿真分析

汽车电动助力转向系统的基本功能是利用电机产生助力力矩帮助转向。与传统的转向系统相比该系统结构简单，灵活性大，能较好地满足汽车转向性能的要求；在操纵舒适性、安全性、节能等方面也充分显示了其优越性。本文对汽车电动助力转向系统的结构及其动力特性分析，建立数学模型，设计了一种自适应模糊PD控制系统。并进行了仿真研究。仿真结果表明，基于模糊PD控制的EPS比传统PD控制具有更好的助力特性和抗干扰能力。     

A Comparison of Alternative Intervention Strategies for Unintended Roadway Departure (URD) Control

This paper investigates the use of several different inputs for the control of a vehicle, in the context of URD. In this investigation, the goal of the URD controller is to provide an intervention in the event of the vehicle leaving the road. The types of inputs that will be considered are (i) Four Wheel Steering, (ii) Front Wheel Steering, (iii) Four Wheel Brake Steering, (iv) Front Wheel Brake Steering, and (v) Rear Wheel Brake Steering. The controller design is an LQ controller based on the simplified dynamics of a 2 degree of freedom bicycle model. However, the analysis of the different strategies are performed on a 7 degree-of-freedom nonlinear vehicle model. The key contribution of this paper is the quantitative evaluation of the relative efficiencies of each of these input strategies being examined. Unlike most control schemes, the performance measure to be used will not be the output tracking error of the system. Instead, the metric of performance is the ratio of peak tire force used versus available tire force or, in other words, the actuator response relative to the maximum available actuator capability.     

A Comparison of Alternative Obstacle Avoidance Strategies for Vehicle Control

In Alleyne (1996) several vehicle control options were considered for Unintended Roadway Departure (URD) prevention and conclusions were drawn as to the efficacy of each method. This companion paper investigates the use of several different inputs for the control of a vehicle, in the context of Obstacle Avoidance for autonomous vehicles. In this investigation, the goal of the controller is to provide an intervention in the event of the vehicle detecting an obstacle in its path. The five types of inputs that will be considered are (i) Four Wheel Steering; (ii) Front Wheel Steering; (iii) Four Wheel Brake Steering; (iv) Front Wheel Brake Steering; and (v) Rear Wheel Brake Steering. The controller design is an LQ controller based on the simplified dynamics of a 2 degree of freedom bicycle model. However, the analysis of the different strategies are performed on a more complete, nonlinear vehicle model. A key contribution of this paper is the quantitative evaluation of the relative efficiencies of each of these input strategies being examined. Unlike most control schemes, an important metric of performance is the ratio of peak tire force used versus available tire force. The conclusions reached in this paper shed additional light on appropriate input actuator methods for vehicle guidance and control.     

A Comparison of Alternative Obstacle Avoidance Strategies for Vehicle Control

SUMMARY

In Alleyne (1996) several vehicle control options were considered for Unintended Roadway Departure (URD) prevention and conclusions were drawn as to the efficacy of each method. This companion paper investigates the use of several different inputs for the control of a vehicle, in the context of Obstacle Avoidance for autonomous vehicles. In this investigation, the goal of the controller is to provide an intervention in the event of the vehicle detecting an obstacle in its path. The five types of inputs that will be considered are (i) Four Wheel Steering; (ii) Front Wheel Steering; (iii) Four Wheel Brake Steering; (iv) Front Wheel Brake Steering; and (v) Rear Wheel Brake Steering. The controller design is an LQ controller based on the simplified dynamics of a 2 degree of freedom bicycle model. However, the analysis of the different strategies are performed on a more complete, nonlinear vehicle model. A key contribution of this paper is the quantitative evaluation of the relative efficiencies of each of these input strategies being examined. Unlike most control schemes, an important metric of performance is the ratio of peak tire force used versus available tire force. The conclusions reached in this paper shed additional light on appropriate input actuator methods for vehicle guidance and control.     

基于方向盘角度的电动助力转向系统主动回正控制设计

电动助力转向（EPS）系统是在机械转向系统的基础上,加入电动机作为执行机构,使得转向轻便。由于电机转子、减速机构的摩擦阻尼,致使转向系统的回正性能变差。针对系统回正不足,设计了基于方向盘角度信息查表的主动回正控制算法,进行了电控单元（ECU）软、硬件设计。结果表明,该控制策略可使方向盘顺利回到接近中点位置,不过度。     

基于数据库的EPS故障容错的Labview模拟仿真

本文提出了将数据库应用到EPS电动助力转向系统中以提高EPS助力系统的可靠性,在传感器正常工作时在闪存中按照一定的规则存储了汽车运行状态的传感器数据组,包括速度、转矩、转角和纵模加速度信号。     

Common underlying steering curves for motorcycles in steady turns

We study the steady turn behaviours of some light motorcycle models on circular paths, using the commercial software package ADAMS-Motorcycle. Steering torque and steering angle are obtained for several path radii and a range of steady forward speeds. For path radii much greater than motorcycle wheelbase, and for all motorcycle parameters including tyre parameters held fixed, dimensional analysis can predict the asymptotic behaviour of steering torque and angle. In particular, steering torque is a function purely of lateral acceleration plus another such function divided by path radius. Of these, the first function is numerically determined, while the second is approximated by an analytically determined constant. Similarly, the steering angle is a function purely of lateral acceleration, plus another such function divided by path radius. Of these, the first is determined numerically while the second is determined analytically. Both predictions are verified through ADAMS simulations for various tyre and geometric parameters. In summary, steady circular motions of a given motorcycle with given tyre parameters can be approximately characterised by just one curve for steering torque and one for steering angle.     

无钥匙进入系统转向柱锁控制器的原理与设计

随着一键式启动系统和无钥匙进入系统在国内的兴起,传统的机械式转向柱锁必将被新颖的转向控制器所代替。本文对无钥匙进入系统转向柱锁控制器(简称"转向控制器",SCLC)的原理作以介绍,重点分析如何将其与BCM控制器、IMMO和发动机管理模块(EMS)等有效集成,实现无钥匙进入系统的功能。     

中型越野车转向问题浅析

在提高中型越野车机动性研究中,分析了在低等级路面高机动性行驶时出现的方向盘打手驾驶体验差问题的主要原因,提出了配装电动辅助转向系统(EAS)的解决方案。某中型越野车分别配装液压助力转向系统(HPS)和EAS进行了对比试验研究。试验项目包括试验场低等级路面(大小圆凸起路、卵石路、搓板路和石块路)高机动性行驶和转向回正,得到了配装2种转向系统的方向盘手力矩对比数据。结果表明,中型越野车配装EAS能够较好解决前述问题。     

基于集成开发环境的EHPS控制器的软件设计

为了让电控液压助力转向系统(EHPS)控制器能够正常的工作起来,只有硬件是不行的,必须满足相匹配功能的软件系统。本文基于瑞萨公司的集成开发环境平台,采用C语言编程主控芯片,结合模块化的编程思路,设计了以完成系统初始化、电机启动工作的主程序和实现控制算法的子程序。程序经过在线编译调试,达到了先期的设计目标。有效地提高了软件的可移植性和运行效率,对EHPS控制功能最终实现起着关键性的作用。     

电动助力转向系统在大中型客车上的应用

针对大中型客车液压助力转向系统存在的问题,介绍电动助力转向(EPS)系统的工作原理及优点,提出一种适用于大中型客车的EPS方案。