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为了使驾驶人在驾驶大型动力模块车组时获得力反馈真实感,提出基于伺服电机扭矩控制的转向盘力觉真实感系统。基于普通车辆的转向系特性,建立转弯时单个转向轮的转向力修正模型,据此利用动力模块车组同一轴线上2个悬挂转角与转向盘转角的数学关系,建立动力模块车组转向盘转向力模型,在此基础上构建伺服电机驱动的转向盘转向力模拟试验平台和虚拟车辆行驶环境。结果表明:数字转向盘的转向力矩曲线与普通车辆转向力矩特性相近,符合中国标准的规定,验证了所提方法的有效性。
In order to obtain the real sense of force feedback when driving a large power module car, a steering wheel force perception system based on servo motor torque control is proposed. Based on the characteristics of common vehicle steering system, the steering force correction model of a single steering wheel during turning is established. Based on the mathematical relationship between the two suspension angles on the same axis of the power module train and the steering wheel steering angle, steering wheel steering of the power module train is established Force model, on this basis, build servo motor-driven steering wheel steering force simulation test platform and virtual vehicle driving environment. The results show that the steering torque curve of the digital steering wheel is similar to that of the ordinary vehicle, which conforms to the Chinese standard and verifies the effectiveness of the proposed method.