汽车转向的力输入控制与角输入控制及其对驾驶员-汽车闭环系统的影响

讨论了与两种不同转向控制策略相应的人－车闭环系统的运动特征，即通过给转向盘施加转向力矩或使转向盘转过一定角度来实施其转向的策略。仿真计算表明，当不足转向度小的汽车高速行驶时，驾驶员采用给转向盘施加转向力矩的控制策略具有更小的跟随误差，并且校正参数的变化范围也小得多，这说明采用此策略对车况的改变有更好的适应性。

Force Control, Position Control and Their Effects on Driver Vehicle Closed Loop System

Motion feature of driver vehicle closed loop directional control system with two kinds of vehicle control models which describe different driving strategies, are discussed in this paper: force control model where steering torque is considered as the steering input, and position control model where steering wheel displacement is considered as the steering input. The characteristics of the driver vehicle systems of these two control strategies are compared, and the effects of force control and position control on the driver vehicle closed loop system are analyzed by means of simulation. The results show that, in view of the closed loop comprehensive evaluation, force control has considerable superiority to position control, especially for less understeering vehicles at high vehicle speed. In addition, the force control system shows better tracking accuracy and more driving consistency than the position control system when vehicle condition(steering characteristics) varies.