类菱形车电控后轮随动转向系统研制

摘要

Based on the analysis of the disadvantages of a mechanical steering transmission mechanism installed on the rhombic vehicle,such as its complicated mechanism and its layout problem,a scheme for electric compliance steering system（ECSS） was presented and the structure and working principles of ECSS were introduced.An ECSS simulation model was established in Simulink,by the method of zero-angle controlling strategy the proportion of rear-wheel steering servo coefficient was determined and the stimulation analysis for the effect of the ECSS on the vehicle under the stepping steering condition was carried on.The simulation indicates that by adopting the ECSS,the high speed manipulating stability of the rhombic vehicle is improved.The model of ECSS was made and the main function of it was tested in vehicle. The test results indicate that the ECSS can realize the rear wheel quickly,accurately, and complete stable compliance steering control.%针对类菱形车前后轮机械转向机构的传动机构复杂、系统布置困难等不足,提出电控后轮随动转向系统（ECSS）设计方案,介绍了ECSS的基本构成和工作原理。在Simulink中建立了ECSS仿真模型,采用零偏角控制策略确定了后轮随动转向比例系数,在阶跃转向工况下,仿真分析了ECSS对车辆操纵稳定性的影响。仿真结果表明,采用ECSS后,类菱形车的高速操纵稳定性得到了一定的改善。研制了ECSS样机,并在实车上对样机的主要功能进行了试验验证。试验结果表明,ECSS能快速、准确且稳定地实现后轮随动转向的控制。