Experimental study on Steer-by-Wire System with Bilateral Control
Experimental study on Steer-by-Wire System with Bilateral Control
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双边控制线控转向系统实验研究
DOI：
10.1109/icmech.2007.4280014
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
S. Kawaji
中科院分区：
文献类型：
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作者：
J. Im;F. Ozaki;T. Matsushita;N. Matsunaga;S. Kawaji
线控转向系统取消了传统的方向盘和前轮之间的机械连接，适用于主动转向控制，提高车辆的稳定性、动力性和机动性，以及自主转向控制以辅助驾驶员。SBW系统的常规控制器采用一般反馈控制方法设计。然而，驾驶员不能准确地感觉到轮胎产生的反作用扭矩。本文的研究目标主要有以下两点。一个是方向盘环境阻抗的再现。二是提高了SBW系统的机动性。此外，必须满足控制稳定性。利用干扰观测器设计了双边控制器。通过分析，证实了该控制器能很好地满足SBW系统的三个期望条件。通过电动汽车实验验证了该方法的有效性。
Steer-by-wire system, in which the conventional mechanical linkages between the steering wheel and the front wheel are removed, is suited to active steering control, improving vehicle stability, dynamics and maneuverability, as well as to autonomous steering control to assist the driver. Conventional controller for SBW system is designed by general feedback control method. However, driver can not exactly feel reaction torque generated from tire. In this paper, the goals are considered as following two points. One is a reproduction of environmental impedance in steering wheel. The other is improved maneuverability for SBW system. Moreover, control stability must be satisfied. Using the disturbance observer, bilateral controller is designed. Through analysis, it is confirmed that the three desired conditions in SBW system are well satisfied with this controller. The effectiveness of this research is demonstrated by experiment with electronic vehicle.
线控转向车辆的转向反扭矩控制
DOI：
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发表时间：
2006
期刊：
Proceeding of International Symposium on Advanced Vehicle Control(AVEC'06)
影响因子：
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作者：
T. Hiraoka;O. Nishihara;H. Kumamoto
通讯作者：
H. Kumamoto