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中国科技论文在线
基于 Carsim 的线控转向系统路感模拟研究
黄硕
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作者简介：黄硕（1989-），男，工程师，主要从事内燃机设计研发与整车性能开发工作. E-mail:
30252297@qq.com
（东风商用车有限公司发动机厂，湖北省十堰市，442001）
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摘要：线控转向系统（Steering-By-wire System，简称 SBW）是继电动助力转向系统后出现
的一种新型转向系统，它取消了方向盘和转向车轮之间的机械连接,成为当今汽车领域的研
究热点之一。 本文采用 CarSim 软件建立整车模型，然后，基于二自由度车辆动力学模型设
计了变传动比的控制策略。为了研究真实路感，还分析机械路感产生的机理，并在 Simulink
中搭建 SBW 路感控制策略。最后通过采集车速、轮胎载荷和方向盘转角等信号，联合 CarSim10
与 Simulink 软件，仿真模拟出不同工况下路感电机产生的方向盘回正力矩。由于控制模型
模拟产生的机械路感与驾驶员需求的理想路感之间确实存在着差异，为此本文设置了路感修
正策略，能给驾驶员提供较为“轻巧”而“真实”的方向盘反馈力。
关键词：路感模拟；联合仿真；线控转向；
中图分类号：U-471.13 15
the road steer-by-wire simulation research system based on
Carsim
Huangshuo
(Engine Plant of DongFeng Comuercial Vehicle Co.LTD,shiyan hubei,442001) 20
Abstract: Steering-By-wire System（referred to SBW) is a new steering system after the electric power
steering system, the abolition of mechanical connection between the steering wheel and the steering
wheel, has become a research hotspot in today's automotive sector world. In this paper, CarSim
software to build the vehicle model, and then, based on two degrees of freedom vehicle dynamics
model design with variable gear ratio control strategy. In order to study the real sense of the way, but 25
also analyze the mechanism of generating mechanical road feel and built in Simulink Control Strategy
SBW road feel. Finally, gathering speed, the tire load and the steering wheel angle and other signals,
the United CarSim and Simulink software, simulation simulate different conditions generated by the
motor road feel of the steering wheel back to the positive moment. Since the control model to simulate
the mechanical road feel and an ideal way driver needs significant differences do exist between the 30
sense, this paper set up a road feel modification strategies, give the driver to provide a more "light" and
"real" and steering wheel feedback force.
Key words: Road feel; joint simulation; SBW;
0 引言 35
汽车转向系统是用于改变或保持汽车行驶方向的专门机构
[1]
。其作用是使汽车在行驶过
程中能按照驾驶员的操作要求而适当的改变其行驶方向，并在受到路面传来的偶尔冲击及汽
车意外地偏离行驶方向时，能与行驶系统配合共同保持汽车的操纵稳定性和安全性。汽车转
向系统的性能直接影响到汽车的操纵稳定性，它对于确保车辆的安全行驶、减少交通事故以
及保护驾驶员的人身安全、改善驾驶员的工作条件起着重要的作用。 40
1 转向路感及路感强度
汽车转向过程中的转向轻便性与路感是相互矛盾的。满足转向轻便就要求转向系统能提
供大些的助力，而助力增加后,路感就变差了。转向轻便性是对汽车低速行驶(如原地转向、
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