线控转向电动汽车运动控制系统的研究

针对传统汽车转向存在转弯半径大和操纵不灵活的问题,采用线控技术在线控转向电动汽车上设计了运动控制系统。介绍了线控转向电动汽车的机械结构和多种运动模式,分析了电动汽车绕任意点旋转运动的运动学算法,并利用模块化设计和车载网络通讯实现了线控转向技术,设计了该车的运动控制系统;研制了该车的运动控制系统样机,并在实际路面上分别对传统汽车和线控转向电动汽车进行了掉头转弯对比实验。研究结果表明,线控转向电动汽车能够更好地实现掉头转向,相比传统汽车具有更小的转弯半径和操纵灵活性。

Research of motion control system for the EV of steering by wire

Aiming at the problem of large turning radius and handling inflexibility with regard to conventional car, the motion control system based on the drive-by-wire network was designed and realized. The mechanical structure and movement patterns of the EV steered by wire were introduced, the kinematics on the rotary motion of the EV about an arbitrary point was analyzed in great detail, and using the technology of modularization and steering by wire in vehicle network, the motion control system was designed. The prototype of motion control system on the EV steering by wire was developed and tested, and the comparative experiments between the traditional car and the steered by wire EV steering U-turn on actual road were carried ont. The results indicate that the steered by wire electric vehicle achieved better U-turn steering,with a smaller turning radius and handling flexibility compared to a conventional car.