本文選題：小型駕駛模擬器 + 轉(zhuǎn)向力矩反饋系統(tǒng)��； 參考：《吉林大學(xué)》2016年碩士論文

【摘要】：在近代汽車開發(fā)過程中,越來越多地通過模擬和仿真技術(shù)進(jìn)行試驗。這不僅可以大大減少在初期階段的場地測試,同時在安全、節(jié)能方面都有著無可比擬的優(yōu)勢。然而只是通過軟件模擬會忽略駕駛行為中非常重要的一環(huán)——駕駛員。為了在汽車開發(fā)過程中將駕駛員引入在環(huán),汽車駕駛模擬器得到了快速發(fā)展,通過駕駛模擬器來研究相關(guān)問題逐漸成為未來汽車發(fā)展的一個非常有前途的技術(shù)手段。隨著車輛電子控制和智能系統(tǒng)的飛速發(fā)展,市場上行成了各式各樣的駕駛模擬器。大型的駕駛模擬器其購買、使用及維護(hù)成本均比較高,使得其應(yīng)用始終不夠普及。然而在汽車開發(fā)、設(shè)計、改進(jìn)和訓(xùn)練等環(huán)節(jié)都涉及到以汽車駕駛模擬器作為工具來進(jìn)行研究,所以研究小型駕駛模擬器整體上是符合未來汽車開發(fā)過程的大趨勢的。低成本作為小型駕駛模擬器的一個優(yōu)勢,在設(shè)計過程中也是一個邊界約束條件。成本較低同樣會帶來一系列的問題。比如,處理器和運算器性能有限,這制約了汽車動力學(xué)模型的復(fù)雜程度,太復(fù)雜的模型無法在要求時間內(nèi)完成解算;而低成本使得在反力矩執(zhí)行機(jī)構(gòu)性能受到約束,控制效果不夠理想。在駕駛模擬器上進(jìn)行駕駛和轉(zhuǎn)向操作時,駕駛員需要通過轉(zhuǎn)向力矩反饋獲得必要的“路感”。成本問題直接導(dǎo)致了小型駕駛模擬器上一個核心的問題仍然未解決,那就是高保真的手感模擬。本文便是結(jié)合上述問題進(jìn)行小型駕駛模擬器開發(fā)及其轉(zhuǎn)向力矩反饋系統(tǒng)研究的。對駕駛模擬器的開發(fā)包括了系統(tǒng)架構(gòu)、機(jī)械結(jié)構(gòu)及硬件開發(fā)。在此基礎(chǔ)上,建立了基于結(jié)構(gòu)建模的簡化轉(zhuǎn)向系統(tǒng)模型,在保證精度的前提下有效提升動力學(xué)系統(tǒng)的解算時間,降低系統(tǒng)延遲。同時,針對被控對象設(shè)計控制策略,使得控制參數(shù)可以在線實時調(diào)整,提升系統(tǒng)響應(yīng)。在基于快速原型的硬件在環(huán)聯(lián)合仿真平臺上對本文所開發(fā)的駕駛模擬器及其力矩反饋系統(tǒng)進(jìn)行性能驗證。
[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.
【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：U467.13

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