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为了提高整车的操纵安全性,从转向系统的改进出发,用谐波齿轮作为主动转向系统的核心部件实现改变转向系统传动比的功能。根据谐波齿轮主动转向系统的结构原理建立相关数学模型,采用电机电压控制方法与PID控制方法对系统进行控制,在Simulink中建立整体仿真模型进行仿真研究。结果表明,车辆在低速时转向响应较快、高速时转向响应较慢,实现了车辆低速转向轻便灵活、高速转向稳定的效果。
In order to improve the steering safety of the vehicle, starting from the improvement of the steering system, the harmonic gear is used as the core component of the active steering system to realize the function of changing the steering ratio of the steering system. According to the structure principle of the active steering system of harmonic gear, a mathematical model is established, and the system is controlled by the method of motor voltage control and PID control. The overall simulation model is established in Simulink for simulation research. The results show that the steering response of the vehicle is fast at low speed and the steering response is relatively slow at high speed, which realizes the effect of low speed steering to light and flexible vehicle and high speed steering stability.