線控轉向之硬體迴路測試平台建置與車道變換之能耗分析

Abstract

現有的學術文獻有許多關於轉向系統能耗的研究，卻缺乏比較不同車道變換路徑規劃的能耗大小。本論文首先改造出一組線控轉向系統，並且針對此轉向系統架設硬體迴路模擬（Hardware-in-the-loop simulation, HILS）測試平台，此測試平台包含轉向系統、負載系統和數個感測器，可模擬出車輛行駛時回正力矩對轉向系統造成的影響，也可以計算出轉向系統行駛時之能耗。另外，本研究利用軟體迴路模擬（Model-in-the-loop simulation, MILS） 和硬體迴路模擬兩種方法做車道變換時的能耗分析，軟體迴路模擬中以一個齒輪和齒條型態（rack-and-pinion type）的線控轉向系統模型進行模擬，硬體迴路模擬則利用上述提及的測試平台對改裝的線控轉向系統進行能耗測試。本研究以ISO-3888-2車道變換測試、一般道路和高速公路進行路徑規劃，測試轉向系統在不同馬達轉速和馬達轉角的能耗大小。實驗結果顯示，在相同的車速條件下，馬達轉角越大則第一次功率峰值出現的時間會被延後，且轉向系統的能耗越大，另外，馬達轉速越高雖然轉向系統被回正力矩影響的時間較短，但功率峰值較轉速小時來得高了許多，因此馬達轉速較高時轉向系統的能耗也越大。

Nowadays, there are many academic literatures related to energy consumption of steering systems. However, it is lack of comparison of energy consumption at different routes during lane changing. In this study, we first re-constructed a steer-by-wire system. A hardware-in-the-loop simulation testing platform for this steering system was constructed. The platform is consisted of a steering system, a load system and sensors. It is able to simulate the self-aligning torque on the steering system when the vehicle is driving, and measure the total energy consumption of steering system when the vehicle is driving on a specific route. Additionally, we utilized two methods, model-in-the-loop simulation and hardware-in-the-loop simulation, to analyze the energy consumption while changing lane. In model-in-the-loop simulation, we constructed a rack-and- pinion type steer-by-wire system model. In hardware-in-the-loop simulation, we utilized the above platform to test the energy consumption of the re-constructed steer-by-wire system. Also, we completed the route planning based on the ISO-3888-2 lane changing, general road and highway test in order to measure the energy consumption of steering system at different motor speed and motor angle. The experimental results show that the bigger the motor angle, the longer the time for the first power peak to appear, and the larger the energy consumption at the same longitudinal speed. We also concluded that the higher the motor speed, the shorter the time for the steering system to be affected by the self-aligning torque, but the peak of power consumption of motor at high speed is much higher than that at lower speed. Therefore, the overall energy consumption is higher when the motor speed is higher.