用於小型商用車的缐控轉向系統模型建立以及在硬體平台的驗證

Abstract

本研究的目的是要提出一套用於線控轉向系統商用車的轉向系統模型，能夠使模型的真實度更接近實際車輛的轉向系統。 本研究先討論車輛的轉向模型從傳統人工駕駛車輛的架構中延伸出來的用於自動駕駛車輛的線控轉向模型，接著通過HIL實際轉向系統平台的數據，在元件轉向模型中加入實際會有的摩擦模型以及間隙模型。 為了瞭解本研究轉向模型的真實性，使用HIL實際平台測試以及杆件角度傳遞轉向模型和傳動比轉向模型做對照組。 最終結果證明本研究建立的適用於小型商用車的線控轉向系統模型能更接近實際轉向系統，與實際轉向系統平均誤差在一個周期内小於1%，比目前使用的轉向模型更具有真實性。

The purpose of this study is to propose a steering system model for commercial vehicles with steering-by-wire system, which can make the model more realistic to the actual vehicle steering system. In this study, we first discuss the steering model of the vehicle which is extended from the architecture of the traditional manual driving vehicle, and then add the actual friction model and clearance model into the component steering model based on the data of the actual steering system platform of HIL. In order to understand the authenticity of the steering model in this study, HIL actual platform test, steering model by rod angle transfer and transmission ratio steering model were used as the control group. The final results prove that the pure steering-by-wire model for small commercial vehicles established in this study can be closer to the actual steering system, and the average error between the model and the actual steering system is less than 1% within a cycle, which is more authentic than the current steering model.