Abstract: In order to study the control strategy of hydraulic steering by wire system of electric vehicles, simulation analysis, and bench test were carried out based on AMESim. The design scheme of hydraulic steering by the wire control system for electric vehicles was proposed. The working principle, overall structure, hydraulic system design, and road sense loading system were analyzed. Based on AMESim, the simulation mathematical model of electric vehicle hydraulic steering by wire control system was established. The mathematical model of road feel, hydraulic system, actuator dynamics, and transmission ratio were described, and the PID controller with P parameter selfadaptive adjustment was designed. On this basis, the system response and antiinterference performance were analyzed, and the reliability and stability of the system in the time domain were studied. The simulation results showed that the step and sinusoidal response deviation of the system was basically less than 3° and the system had good antiinterference ability. Based on the test bench, the response and stability verification tests were carried out. The results showed that the adaptive PID controller had good responses, and under the condition of large steering, the response deviation of the system was still below 4°.

Key words:  electric vehicle, steerbywire, hydraulic steering, AMESim, PID

摘要： 为研究并优化电动车辆线控液压转向系统的控制策略,文章基于AMESim软件进行仿真分析并开展台架验证试验。提出电动车辆线控液压转向控制系统整体设计方案,分别就工作原理、整体结构、液压系统设计、路感加载系统进行分析。基于AMESim建立电动车辆线控液压转向控制系统仿真数学模型,就路感数学模型、液压系统数学模型、执行机构动力学数学模型、传动比数学模型进行阐述,设计P参数自适应调整的PID控制器,并在此基础上进行系统响应性、抗干扰性能分析,研究系统时域状态下的可靠性、稳定性。仿真结果表明,系统阶跃及正弦响应偏差在3°以下,抗干扰能力较强。基于试验台架设计了响应性及稳定性验证试验,结果表明,自适应PID控制器实际响应性较好,快速转向下系统跟随响应偏差在4°以下。

关键词: 电动车辆, 线控, 液压转向, AEMSim, PID算法