Adaptive Variable Gain Transmission Ratio Design for Automotive Steer-by-wire Systems
[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]
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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
- 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:
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Last Update:
2024-09-02