Adaptive Variable Gain Transmission Ratio Design for Automotive Steer-by-wire Systems

NAVIGATE

Table of Contents

STATISTICS

Viewed380

Downloads406

Adaptive Variable Gain Transmission Ratio Design for Automotive Steer-by-wire Systems

[HTML] PDF下载 (406)

[1]KOU Farong,FANG Bo,ZHANG Xinqian,et al.Adaptive Variable Gain Transmission Ratio Design for Automotive Steer-by-wire Systems[J].Journal of Zhengzhou University (Engineering Science),2024,45(05):8-15.[doi:10.13705/j.issn.1671-6833.2024.05.001]

Copy

Journal of Zhengzhou University (Engineering Science)[ISSN 1671-6833/CN 41-1339/T] Volume: 45 Number of periods: 2024 05 Page number: 8-15 Column: Public date: 2024-08-08

Title:: Adaptive Variable Gain Transmission Ratio Design for Automotive Steer-by-wire Systems

Author(s):: KOU Farong; FANG Bo; ZHANG Xinqian; CHANG Hangtao; School of Mechanical Engineering, Xian University of Science and Technology, Xian 710054, China

Keywords:: steer-by-wire; yaw rate gain; variable transmission ratio; SO-BP neural network; friction coefficient

CLC:: U463. 4

DOI:: 10.13705/j.issn.1671-6833.2024.05.001

Abstract:: The variable steering transmission ratio was a crucial factor affecting the active safety and handling stability of vehicles. In order to enhance the steering characteristics of steering-by-wire vehicles on low-adhesion coefficient road surfaces, a variable gain transmission ratio that adapts to changes in road adhesion coefficient and vehicle speed was designed. A 2 DOF model was established for the vehicle, to analyze the factors influencing the yawrate gain, and to obtain the data relationship between the influencing factors and the gain through simulation. TheMin-Max normalization method was utilized to preprocess the data between the influencing factors and the yaw rategain, constructing a neural network dataset. Design a Snake Optimizer Backpropagation Neural Network ( SO-BP)was desighed and train to use the preprocessed dataset to dynamically acquire the variable yaw rate gain. A strategywas employed to combines the variable yaw rate gain with the lateral acceleration gain in proportion to design thevariable gain transmission ratio for electronic control steering. Simulink-CarSim was used to build a steer-by-wiresteering whole vehicle model. Compare and analyze the designed variable gain transmission ratio was analized andcompared with a traditional fixed gain transmission ratio under conditions of both high-adhesion coefficient road surfaces with a double lane change scenario and low-adhesion coefficient road surfaces with a step input scenario. Results indicated that with high-adhesion coefficient road conditions, the trajectory error of the two transmission ratiovehicles remained within 3%, while the variable gain transmission ratio vehicle reduced the peak steering wheel angle by 9. 1%. With low-adhesion coefficient road conditions, the variable gain transmission ratio vehicle showed a22. 3% reduction in steady-state yaw rate at low to moderate speeds and a 24. 6% reduction in peak yaw rate. Atmoderate to high speeds, the steady-state yaw rate decreased by 6. 6%, and the peak yaw rate decreased by10. 8%. The variable gain transmission ratio not only enhanced steering sensitivity on high-adhesion coefficient roadsurfaces, but also improved safety and maneuverability when driving on low-adhesion coefficient road surfaces.

References:: [ 1 ] MORTAZAVIZADEH S A, GHADERI A, EBRAHIMIM, et al. Recent developments in the vehicle steer-by-wire system [ J ] . IEEE Transactions on TransportationElectrification, 2020, 6(3) : 1226-1235.
[ 2 ] 张三川, 叶建明, 师艳娟. 基于毫米波雷达的汽车前防撞预警系统设计 [ J] . 郑州大学学报 ( 工学版) ,2020, 41(6) : 13-18.
ZHANG S C, YE J M, SHI Y J. Design of vehicle forward collision warning system based on millimeter waveradar[ J] . Journal of Zhengzhou University (EngineeringScience) , 2020, 41(6) : 13-18.
[ 3 ] 陈哲明, 钟诚, 李环宇, 等. 粒子群优化线控转向变角传动比模糊控制器设计[ J] . 重庆理工大学学报(自然科学) , 2022, 36(12) : 41-49.
CHEN Z M, ZHONG C, LI H Y, et al. Design of thefuzzy controller for variable angle transmission ratio ofsteer-by-wire system through particle swarm optimization[ J ] . Journal of Chongqing University of Technology(Natural Science) , 2022, 36(12) : 41-49.
[ 4 ] 徐飞翔, 周晨, 王军, 等. 基于变传动比的全轮线控转向车辆可拓 H ∞ 控制方法研究 [ J] . 中国公路学报, 2021, 34(9) : 133-145.
XU F X, ZHOU C, WANG J, et al. Extension H ∞control method for all-wheel steer-by-wire vehicles based onvariable transmission ratio [ J] . China Journal of High-way and Transport, 2021, 34(9) : 133-145.
[ 5 ] 程准, 鲁植雄, 龚佳慧, 等. 转向系统传递函数的研究及理想传动比获取[ J] . 浙江大学学报( 工学版) ,2016, 50(7) : 1276-1283.
CHENG Z, LU Z X, GONG J H, et al. Transfer function of steering system and acquisition method of idealsteering ratio[ J] . Journal of Zhejiang University (Engineering Science) , 2016, 50(7) : 1276-1283.
[ 6 ] 赵林峰, 陈无畏, 王俊, 等. 基于可拓滑模线控转向控制策略研究 [ J] . 机械工程学报, 2019, 55 ( 2) :126-134.
ZHAO L F, CHEN W W, WANG J, et al. Research onsteering-by-wire control strategy based on Extension sliding mode control[ J] . Journal of Mechanical Engineering, 2019, 55(2) : 126-134.
[ 7 ] 冯晓志, 石沛林, 曹凡, 等. 基于 CarSim 的线控转向汽车理想传动比的设计研究[ J] . 广西大学学报( 自然科学版) , 2018, 43(6) : 2122-2132.
FENG X Z, SHI P L, CAO F, et al. Research on idealtransmission ratio design of Steer-By-Wire car based onCarSim[ J] . Journal of Guangxi University (Natural Science Edition) , 2018, 43(6) : 2122-2132.
[ 8 ] LIU Z Y, XU X, XIE J, et al. Variable transmissionratio design of a steer-by-wire system for intelligent vehicles[ J ] . Proceedings of the Institution of MechanicalEngineers, Part C: Journal of Mechanical EngineeringScience, 2022, 236(16) : 9341-9353.
[ 9 ] 金智林, 梁为何, 赵万忠. 汽车多增益融合线控转向传动比及防侧翻控制[ J] . 机械工程学报, 2020, 56(10) : 172-180.
JIN Z L, LIANG W H, ZHAO W Z. Multi-gains ratio ofsteer-by-wire system and anti-rollover control for vehicle[ J ] . Journal of Mechanical Engineering, 2020, 56(10) : 172-180.
[10] 周兵, 范璐, 吕绪宁. 主动前轮转向系统改进型变传动比曲线设计 [ J] . 中国机械工程, 2014, 25 ( 20) :2813-2818.
ZHOU B, FAN L, LYU X N. Design of modified variablesteering ratio curve for active front steering system [ J] .China Mechanical Engineering, 2014, 25 ( 20 ) : 2813-2818.
[11] 赵万忠, 张寒, 邹松春, 等. 线控转向系统控制技术综述[ J] . 汽车安全与节能学报, 2021, 12 ( 1) : 18-34.
ZHAO W Z, ZHANG H, ZOU S C, et al. Overview ofvehicle steer-by-wire system control technologies [ J ] .Journal of Automotive Safety and Energy, 2021, 12( 1) :18-34.
[12] 李学鋆, 章菊. 考虑路面附着系数和车速的 AFS 可变传动比设计 [ J] . 汽车安全与节能学报, 2020, 11(3) : 329-336.
LI X Y, ZHANG J. Design of AFS variable steering ratioconsidering road adhesion coefficient and vehicle speed[ J] . Journal of Automotive Safety and Energy, 2020, 11(3) : 329-336.
[13] 商高高, 张杰. 基于非线性二自由度模型的线控转向系统变角传动比设计[ J] . 重庆理工大学学报( 自然科学) , 2018, 32(9) : 6-13.
SHANG G G, ZHANG J. Design of variable angle steering ratio for steer by wire system based on nonlinear vehicle model of two degrees of freedom [ J ] . Journal ofChongqing University of Technology ( Natural Science) ,2018, 32(9) : 6-13.
[14] 杨寒雨, 赵晓永, 王磊. 数据归一化方法综述[ J] . 计算机工程与应用, 2023, 59(3) : 13-22.
YANG H Y, ZHAO X Y, WANG L. Review of data normalization methods [ J] . Computer Engineering and Applications, 2023, 59(3) : 13-22.
[15] HASHIM F A, HUSSIEN A G. Snake Optimizer: a novelmeta-heuristic optimization algorithm [ J ] . Knowledge-Based Systems, 2022, 242: 108320.
[16] 李文琪, 吴晓东. 线控转向车辆可变角传动比特性的研究[ J] . 机电工程, 2019, 36(4) : 422-427.
LI W Q, WU X D. Variable steering ratio characteristicsfor steer-by-wire vehicle[ J] . Journal of Mechanical & Electrical Engineering, 2019, 36(4) : 422-427.
[17] 李亮, 王翔宇, 程硕, 等. 汽车底盘线控与动力学域控制技术[ J] . 汽车安全与节能学报, 2020, 11( 2) :143-160.
LI L, WANG X Y, CHENG S, et al. Technologies ofcontrol-by-wire and dynamic domain control for automotive chassis[ J] . Journal of Automotive Safety and Energy, 2020, 11(2) : 143-160.
[18] TIAN Y T, ZHAO Y B, SHI Y R, et al. The indirectshared steering control under double loop structure ofdriver and automation [ J] . IEEE / CAA Journal of Automatica Sinica, 2020, 7(5) : 1403-1416.
[19] ZHAO B, FAN X B, QI G X. Variable transmission ratioand active steering control for steer-by-wire steering[ J] .International Journal of Vehicle Systems Modelling andTesting, 2022, 16(4) : 290-312.

Similar References:

Memo

Last Update: 2024-09-02