小型驾驶模拟器开发及其转向力矩反馈系统研究

发布时间：2018-06-02 15:01

本文选题：小型驾驶模拟器 + 转向力矩反馈系统　；参考：《吉林大学》2016年硕士论文

【摘要】：在近代汽车开发过程中,越来越多地通过模拟和仿真技术进行试验。这不仅可以大大减少在初期阶段的场地测试,同时在安全、节能方面都有着无可比拟的优势。然而只是通过软件模拟会忽略驾驶行为中非常重要的一环——驾驶员。为了在汽车开发过程中将驾驶员引入在环,汽车驾驶模拟器得到了快速发展,通过驾驶模拟器来研究相关问题逐渐成为未来汽车发展的一个非常有前途的技术手段。随着车辆电子控制和智能系统的飞速发展,市场上行成了各式各样的驾驶模拟器。大型的驾驶模拟器其购买、使用及维护成本均比较高,使得其应用始终不够普及。然而在汽车开发、设计、改进和训练等环节都涉及到以汽车驾驶模拟器作为工具来进行研究,所以研究小型驾驶模拟器整体上是符合未来汽车开发过程的大趋势的。低成本作为小型驾驶模拟器的一个优势,在设计过程中也是一个边界约束条件。成本较低同样会带来一系列的问题。比如,处理器和运算器性能有限,这制约了汽车动力学模型的复杂程度,太复杂的模型无法在要求时间内完成解算;而低成本使得在反力矩执行机构性能受到约束,控制效果不够理想。在驾驶模拟器上进行驾驶和转向操作时,驾驶员需要通过转向力矩反馈获得必要的“路感”。成本问题直接导致了小型驾驶模拟器上一个核心的问题仍然未解决,那就是高保真的手感模拟。本文便是结合上述问题进行小型驾驶模拟器开发及其转向力矩反馈系统研究的。对驾驶模拟器的开发包括了系统架构、机械结构及硬件开发。在此基础上,建立了基于结构建模的简化转向系统模型,在保证精度的前提下有效提升动力学系统的解算时间,降低系统延迟。同时,针对被控对象设计控制策略,使得控制参数可以在线实时调整,提升系统响应。在基于快速原型的硬件在环联合仿真平台上对本文所开发的驾驶模拟器及其力矩反馈系统进行性能验证。
[Abstract]:In the process of modern automobile development, more and more experiments are carried out by simulation and simulation technology. This can not only greatly reduce the site test in the initial stage, but also have unparalleled advantages in the aspects of safety and energy saving. However, it is only through software simulation that the very important part of driving behavior is ignored - driver. In the process of automobile development, the driver is introduced into the ring, and the vehicle driving simulator has developed rapidly. The research on the related problems through driving simulator has gradually become a very promising technical means in the future of automobile development. With the rapid development of vehicle electronic control and intelligent system, the market has become a variety of driving forces. The large driving simulator has high cost of purchase, use and maintenance, which makes its application not popularized. However, automobile driving simulator is involved in the research of automobile development, design, improvement and training. Therefore, the research of small driving simulator is in line with the future car opening. The low cost, as one of the advantages of the small driving simulator, is also a boundary constraint in the design process. Low cost also brings a series of problems. For example, the performance of the processor and the operator is limited, which restricts the complexity of the vehicle dynamics model, and the too complex model can not be required. The low cost makes the performance of the reverse torque actuator constrained and the control effect is not ideal. When driving and steering on the driving simulator, the driver needs to get the necessary "sense of road" through the steering torque feedback. The cost problem directly leads to a core problem on the small driving simulator. In this paper, the development of small driving simulator and the steering torque feedback system are studied in this paper. The development of driving simulator includes system architecture, mechanical structure and hardware development. On this basis, a simplified steering system model based on structure modeling is established. On the premise of guaranteeing the precision, the calculation time of the dynamic system and the system delay are effectively improved. At the same time, the control strategy is designed for the controlled object to adjust the control parameters online and improve the response of the system. The driving simulator and its force developed on the loop joint simulation platform based on the fast prototype hardware in the ring joint simulation platform The moment feedback system performs the performance verification.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U467.13

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