附录
附录A
Steering Behavior and Control Technology
0f Four—wheel Steering AutomobiIe
ABSTRACT
This paper analyses the characteristics of car four-wheel steering control to, summarizes the principle of construction four-wheel steering cars. Introduced the four-wheel steering system control strategy. Points out the four-wheel steering system control technology faces difficulties, and prospects the trend of its development.
Keywords: four-wheel steering; Steering characteristics; Working principle; Control; Development;
1. Introduction
With modern road traffic system and the development of modern automobile technology, people on the car's steering control performance and driving stability requirement is increasing day by day. As the most effective improve vehicle handling performance of a kind of active chassis control technology - four-wheel steering technology. In the 1980s began in cars get application, and as the modern automobile industry and continuous development. Car four-wheel steering means in turn, the rear car can be relative to body active steering, that the car can be up to four wheels role. To improve the car turned to maneuverability, handling stability and driving safety.
2. The car's steering four-wheel steering
2.1 4ws cars and 2ws steering process analysis
Ordinary two wheel steering can not only the front car around its own wheel rotation and relative to body deflection around the precision, then wheel rotation and not only deflection. When the driver turned the steering wheel, front wheel steering, changed directions face front tyre, produced a transverse force, through the front wheel effect on body, make the body yawing and produce centrifugal force, the rear wheels cornering, produced change direction, participate in the sports car to. And the rear and front car 4ws as,
can rotation can also deflection. When the driver turned the steering wheel, front and rear wheels, that car almost at the same time to change direction, realize steering movement.
In turn, the 2ws car before active steering wheel rotation just makes passive steering. Obviously, 2ws cars in steering process from the steering wheel rotation to rear wheel steering movement in between the existence of certain lag time. This phase lag 2ws automobile steering characteristics make the servo sex becomes poor, and that the car steering radius increased. In addition, 2ws car at a high speed, the steering wheel Angle relative to certain incremental, body yaw-rate and lateral acceleration incremental increases, made the car at a high speed handling and stability becomes poor. And in turn, the car 4ws has done before, rear wheel steering, active in the process of steering, high sensitivity, fast response, effectively overcome the shortcomings.
2.2 4ws automobile steering way
According to the theory analysis and road test showed that a four-wheel steering can improve the maneuverability and steering control stability of high speed, modern 4ws car is developed according to the guiding ideology. Generally speaking, in the process of steering cars in 4ws, according to different driving conditions, front and rear wheel steering Angle should follow certain rules between. At present, the front, rear typical 4ws deflection rules generally are described below:
(a) inverse phase steering
As shown in figure A1 (a) shows, steering wheel Angle at low speeds or larger, front and rear inverse phase shift, realize that the rear wheels with the front deflect deflect instead, and with the steering wheel Angle deflection Angle increases and increases in a certain range. This redirection speed way can improve the manipulation of the car, reduce automobile portability turning radius, making cars maneuverability. Easy car turned turn, obstacle avoidance and driving, garage and parking. As for cars, if rear inverse phase 5 °, then turned can reduce minimum steering radius was about 0.5.
(b) phase with steering
As shown in figure A1 (b) shows, in a high-speed or steering wheel Angle is lesser, front and rear wheels with phase shift, realize that the rear wheels deflect the deflection direction with front wheel. Make the car body yaw-rate greatly reduce automobile body, can reduce the tendency of cornering undergo dynamic, guarantee the overtaking the highway, elevated highway, in and out, in the approach and flyovers insufficient steering state. Now, there are many 4ws cars take improving vehicle handling performance focuses on making cars on high-speed steering stability, without excessive demands in low-speed driving car course-altering maneuvers flexibility. The features is low by front wheel steering car only when only in car speeds, after up to a certain value, rear, only participate in steering phase with four-wheel steering.
（a）Reverse a steering （b）Coincidental a steering
Figure A1 four-wheel steering the front of the car, rear deflection rule
3. Four-wheel steering car components and working characteristics
4ws car is in front wheel steering system, and on the basis of suspension in cars on install a set of rear wheel steering system, both through certain questions of contact, making cars in front wheel steering also participate in the meanwhile, rear wheel steering. After decades of research and development, have molding 4ws car type has a variety of, composition, structure is different, working principle and control methods vary. The typical electric 4ws system mainly by the front wheel steering system, sensors, ECU, rear wheel steering actuators and rear wheel steering transmission mechanism etc. the sensor will front wheel steering motor sports the signal and the signal into ECU were analyzed and calculated, will process after the drive signal to rear wheel steering actuators, rear wheel steering actuators action, through the rear wheel steering transmission mechanism, rear wheel deflection. Meanwhile, ECU when carried out monitoring car operation condition, calculate target steering Angle and rear real-time steering Angle, the difference in value between real-time adjustment to rear wheels corner. Such, can according to the actual sports car, to realize the state car four-wheel steering. General 4ws cars equipped with two turning mode, can enter 4ws state, also can keep the traditional 2ws state, drivers can pass the driving indoor steering mode switch selection. When 4ws car in the course of driving the electronic control system malfunction, rear wheel automatic back into the middle, the automatic into the front wheel steering state, ensure like ordinary front wheel steering car driving safely as automobiles. Meanwhile, dashboard "4ws" indicator, warning drivers, stored on ECU fault condition of warranty, so that by yards.
4. Four-wheel steering control of the car
4ws system not only to realize the need for automotive steering movement, and guarantee the vehicle steering traveling stability. At present, in the research and development of automobile 4ws centered on improving car, the transient manipulation stability as a starting point, explore due to rear brought car in response to changes, and adopts various rear wheel control strategy and produce different effect. Auto four-wheel
steering control depends on tires were lateral force, four-wheel steering can make cars in turn, the rear directly involved in for car yawing movement and lateralizing control. Through timely, accurate control of the rear wheel steering Angle, not only can shorten the process of steering the transient response, and can actively control cars the trajectory and attitude. In turn, that the car during its longitudinal direction centerline of the direction, even with the direction of the car horn decreases overlap, attitude Angle of steering bodywork cornering, improves the lateral stability car.
4.1 control goals
That car in turn to basic keep PianJiao zero gravity side car. So can greatly improve the car to the steering wheel input dynamic response characteristics, largely improved yaw-rate and lateral acceleration of transient performance indicators, lower the body posture change. From the PianJiao zero target start. According to certain control program is to realize the rear wheels to function is derived based four-wheel steering. Of course, the modern 4ws cars also have some other control goal request.
4.2 control strategy model based
The general situation of the studies are 4ws system based on a simple dof vehicle model of linear. This is just a kind of utopian mathematical model, when modeling overlooked in some of the dynamic parameters of the car without considering changes, automobile driving produces in the process of many of the random uncertainties and not very accurate. Early 4ws controller design are based on linear dynamic equation with the hypothesis, but due to the above reasons, make the design of control system doesn't meet practical needs, there is no guarantee that the vehicle steering control stability.
4.3 control method
Different cars driving performance requirements of steering and different models of the car wheels deflection 4ws law is not the same. Thus, different 4ws vehicle USES control method is endless and same, various control method has its emphases respectively. At present, in some molding 4ws with car on the control method basically has:
(a). The set than simply steering system 4ws.
(b). Than before, rear wheel steering front-wheel corner function 4ws system.
(c).Than before, rear wheel steering j speed function 4ws system is.
(d). The 4ws with first-order lagging system.
(e).With reversed-phase characteristics 4ws system
(f). With optimal control characteristics of 4ws system.
(g). Has since learning, white the ability to adjust the 4ws system.
Former five kinds of control system belong to classical control theory category, only to satisfy car under certain conditions, but also can't adapt to the need of motor sports of random changes, along with the computer technology and some advanced control theory of
development, 4ws system will towards adaptive, intelligent direction.
4.4 4ws system control technology development
At present, for research and development of car 4ws remains constant developing and perfecting stage. Although researchers from structure to control principle of four-wheel steering on have done a lot of research, 4ws technology have made many progress. But, in the use of modern control theory of automotive steering control strategy choice of methods of determination and control, mainly depend on experience, the corresponding theoretical basis is still very lack, 4ws technology not really into wide use in commercial car on stage, no widely used.
In the technology in relatively mature 4ws cars, most use electric hydraulic power 4ws system. With the rapid development of electronic technology, computer technology in cars, the wide application of electronic electric 4ws system will be the trend of the development of automobile 4ws. Although in 4ws system research and development has made great development, however, as the core technical problems 4ws system - 4ws system controller design, what on earth as the best control objectives? Adopt what kind of control method? Still no in this field is the same view. Already, early before of the 4ws and the system based on a simple dof vehicle model, linear controller design are based on 4ws with linear dynamic equation hypothesis, PID control strategy. We know, 4ws system control mainly dependent on tires were transverse force. Early studies is the automobile tires as linear model, general 4ws control is based on the transverse force by tire wheel in proportion to the side PianJiao assumptions, this assumption just in the lateral acceleration smaller range effective. When in the lateral acceleration larger range, tire cornering characteristics of nonlinear area, will go to one side of the PianJiao tyres by transverse force in the response of the relationship of scale, and no longer the longitudinal force by tire vertical load, etc, have relations. In fact, car in turning down the street, tire basically all work in nonlinear area. At this time, garnish with linear control theory for research, appear reluctant to. 4ws vehicle handling dynamics problems is very complicated nonlinear multibody dynamics problems of the control system for 4ws research should be taken into account in the sports car, in-depth study of affecting its state response, establish simulation kinetic parameters of actual sports car mathematical model, adopt more effective control strategy. With the continuous development of control technology, some advanced modern control method has been applied in 4ws system control study, as optimal control and adaptive control, sliding mode control, robust control etc, in recent years, appeared again fuzzy control, based on artificial neural network theory, control method, etc. The study of 4ws control system from linear field gradually transition to nonlinear fields, some multi-degree-of-freedom car dynamics models have proposed 4ws, but mostly in infancy, is not mature. The future of the development of the system is studied 4ws trend for mainly concentrated :
(a). Further research and development of new rear wheel steering actuators and rear wheel steering transmission mechanism, improve the manipulation of steering portability, flexibility and steering Angle of accuracy.
(b). For 4ws system, further development, design high performance, high precision, high sensitivity sensor, in order to correctly detection car sports signal.
(c). Deep study turning the tyre during transient characteristics as the main factors, to join in the mathematic model of the system 4ws.
(d). The control theory and control into method is applied to the 4ws controller study.
附录B
四轮转向汽车的转向特性及控制技术
摘要
本文分析比较了四轮转向汽车的转向特点，概述了电控四轮转向汽车的结构原理。介绍了四轮转向系统的控制策略。指出了四轮转向系统控制技术所面临的困难，并展望其发展趋势。
关键词：四轮转向；转向特点；工作原理；控制；发展；
1.引言
随着现代道路交通系统和现代汽车技术的发展，人们对汽车的转向操纵性能和行驶稳定性的要求日益提高。作为改善汽车操纵性能最有效的一种主动底盘控制技术——四轮转向技术。于二十世纪80年代中期开始在汽车上得到应用，并伴随着现代汽车工业的发展而不断发展。汽车的四轮转向是指汽车在转向时，后轮可相对于车身主动转向，使汽车的四个车轮都能起转向作用。以改善汽车的转向机动性、操纵稳定性和行驶安全性。
2.四轮转向汽车的转向特性
2.1 4ws汽车与2ws汽车转向过程分析
普通两轮转向汽车的前轮既可绕自身的轮轴自转又可绕主销相对于车身偏转，而后轮只能自转而不偏转。当驾驶员转动方向盘后，前轮转向，改变了行驶方向，地面对前轮胎产生一个横向力，通过前轮作用于车身，使车身横摆，产生离心力，使后轮产生侧偏，改变前进方向，参与汽车的转向运动。而4ws汽车的后轮与前轮一样，既可自转也能偏转。当驾驶员转动方向盘后，前、后轮几乎同时转向，使汽车改变前进方向，实现转向运动。
2ws汽车在转向时，前轮作主动转向，后轮只是作被动转向。显然，2ws汽车在转向过程中，从方向盘转动到后轮参与转向运动之间存在一定的滞后时间。2ws汽车的这种相位滞后特性使汽车转向的随动性变差，并使汽车的转向半径增大。另外，2ws 汽车在高速行驶时，相对于一定的方向盘转角增量、车身的横摆角速度和横向加速度的增量增大，使汽车在高速行驶时的操纵性和稳定性变差。而4ws汽车在转向时，前、后轮都作主动转向，在转向过程中，灵敏度高，响应快，有效地克服了上述缺点。
2.2 4ws汽车的转向方式
根据理论分析研究和大量路试表明，四轮转向能够提高汽车转向的机动灵活性和高速行驶时的操纵稳定性，现代4ws汽车就是根据这一指导思想研制的。一般来说，4ws汽车在转向过程中，根据不同的行驶条件，前、后轮转向角之间应遵循一定的规律。目前，典型4ws汽车前、后轮的偏转规律一般如下所述。
(a)逆相位转向
如图B1 (a)所示，在低速行驶或者方向盘转角较大时，前、后轮实现逆相位转向，即后轮的偏转方向与前轮的偏转方向相反，且偏转角度随方向盘转角增大而在一定范围内增大。这种转向方式可改善汽车低速时的操纵轻便性，减小汽车的转弯半径，提高汽车的机动灵活性。便于汽车掉头转弯、避障行驶、进出车库和停车场。对轿车而言，若后轮逆相位转向5°，则可减少最小转向半径约0 5m。
(b)同相位转向
如图B1(b)所示，在中、高速行驶或方向盘转角较小时，前、后轮实现同相位转向，即后轮的偏转方向与前轮的偏转方向相同。使汽车车身的横摆角速度大大减小，可减小汽车车身发生动态侧偏的倾向，保证汽车在高速超车、进出高速公路、高架引桥及立交桥时，处于不足转向状态。现在，有许多4ws汽车把改善汽车操纵性能的重点放在提高汽车高速行驶的操纵稳定性上，而不过分要求汽车在低速行驶的转向机动灵活性。其工作特点是低速时汽车只采用前轮转向，只在汽车行驶速度达到一定数值后，后轮才参与转向，进行同相位四轮转向。
（a）逆向位转向（b）同向位转向
图B1 四轮转向汽车的前、后轮偏转规律
3. 四轮转向汽车的组成及工作特性
4ws汽车是在前轮转向系统的基础上，在汽车的后悬架上安装一套后轮转向系统，两者之问通过一定的方式联系，使得汽车在前轮转向的同时，后轮也参与转向。经过几十年的研究与开发，已经成型的4ws汽车类型有多种，组成、结构不同，控制方式及工作原理也各异。典型的电控4ws系统主要由前轮转向系统、传感器、ECU、后轮转向执行机构和后轮转向传动机构等组成。如图B2所示，转向时，传感器将前轮转向的
信号和汽车运动的信号送入ECU进行分析计算，将处理后的驱动信号传给后轮转向执行机构，后轮转向执行机构动作，通过后轮转向传动机构, 后轮偏转。同时，ECU进行时监控汽车运行状况，计算目标转向角与后轮实时转向角之间的差值，来实时调整后轮的转角。这样，可以根据汽车的实际运动状态，实现汽车的四轮转向。一般的4ws 汽车设有两种转向模式，既可进入4ws状态，也可保持传统的2ws状态，驾驶员可通过驾驶室内的转向模式开关进行选择。当4ws汽车在行驶过程中电子控制系统出现故障时，后轮自动回到中间位置，汽车自动进入前轮转向状态，保证汽车像普通前轮转向汽车一样安全地行驶。同时，仪表板上的“4ws”指示灯亮，警告驾驶员，故障情况被存储在ECU中，以便于维修时检码。
图B2 4ws控制工作原理图
4．四轮转向汽车的控制
4ws系统既要实现汽车转向时所需的运动，又要保证汽车转向时的行驶稳定性。目前，在4ws汽车的研究和开发方面，主要是以改善汽车的瞬态操纵稳定性为出发点，探索由于后轮参与转向而带来的汽车响应变化，以及采用各种后轮控制策略而产生的不同效果。汽车四轮转向的控制依赖于轮胎所受的侧向力，四轮转向能使汽车在转向时，后轮直接参与对汽车横摆运动和侧向运动的控制。通过适时、精确地控制后轮的转向角度，不仅可缩短转向过程的瞬态响应，而且能主动地控制汽车的运动轨迹和姿态。在转向过程中，使汽车的前进方向与其纵向中心线的方向一致，即使得汽车的方向角与姿态角重合，减小转向时车体的侧偏，提高了汽车的侧向稳定性。
4.1控制目标
使汽车在转向时能够基本保持汽车重心侧偏角为零。这样能够大幅度提高汽车对方向盘输人的动态响应特性，很大程度上改善了横摆角速度和侧向加速度的瞬态性能指标，降低车身姿态的变化。从侧偏角为零的目标出发。按照一定的控制程序导出后轮转向函数是实现四轮转向的基础。当然，现代的4ws汽车也有一些其它控制目标的要求。
4.2控制策略的模型基础
一般情况下进行的4ws系统的研究都是基于一个简单的二自由度线性车辆模型。这只是一种理想化的数学模型，在建模时忽略了汽车的一些动力学参数的变化，没有考虑汽车行驶过程中产生的许多随机的、不确定因素，因而不是非常精确的。早期的4ws控制器设计都是基于跟随线性动力学方程的假设，但由于上述原因，使得所设计的控制系统不一定满足实际的需要，无法保证汽车转向时的操纵稳定性。
4.3控制方法
不同的汽车对转向行驶性能的要求不同，不同车型的4ws汽车的车轮偏转规律也不一样。因此，不同的4ws汽车所采用的控制方法不尽相同，各种控制方法分别有其侧重点。目前，用在一些成型的4ws汽车上的控制方法主要有：
(a). 定前后轮转向比的4ws系统。
(b)．前、后轮转向比是前轮转角函数的4ws系统。
(c). 前、后轮转向比是车速函数的4ws系统。
(d)．具有一阶滞后的4ws系统。
(e)．具有反相特性的4ws系统。
(f). 具有最优控制特性的4ws系统。
(g). 具有自学习、白适应能力的4ws系统。
前五种控制系统属于古典控制理论范畴，只能满足汽车在某些特定条件下的需要，还不能适应汽车运动的随机变化，随着计算机技术和一些先进控制理论的发展，4ws 系统将朝着自适应、智能化的方向发展。
4.4 4ws系统控制技术的发展
目前，对于4ws汽车的研究和开发仍处于不断发展和完善阶段。尽管科研人员从结构到控制原理上对四轮转向进行了大量的研究, 4ws 技术已取得不少进展。但是，在运用现代控制理论进行汽车转向控制策略的确定和控制方法的选择时，主要是依靠经验，相应的理论依据还很缺乏，4ws技术没有真正步入普及应用阶段，在商用汽车上没有得到广泛应用。
在技术相对成熟的4ws汽车中, 大多数采用电控液压动力4ws系统。随着电子技术的飞速发展，计算机技术在汽车中的广泛应用，电控电动4ws系统将是4ws汽车的发展趋势。虽然在4ws系统的研究和开发方面已经取得了很大的发展，但是，作为4ws 系统的核心技术问题——4ws系统控制器的设计，究竟以什么作为最佳的控制目标?采用什么样的控制方法?在该研究领域仍然没有较为一致的看法。前已述及，早期进行的4ws系统的研究都是基于一个简单的二自由度线性车辆模型，4ws控制器设计都是基于
附录A 外文文献 Electric Power Steering system 1.History In automobile development course, Steering system experienced four stages of development: from the initial mechanical Steering system (for your DNS setting Steering, abbreviation ) development for Hydraulic Steering system (Hydraulic Power Steering, abbreviation HPS), then again appeared electronically controlled Hydraulic Steering system (Electro Hydraulic Power Steering, abbreviation EHPS) and Electric Power Steering system (Steering, room Power as EPS). Assemble mechanical steering system of car parking and low-speed driving, when the driver's steering control burden too heavy, in order to solve this problem, the American GM in the 1950s took the lead in the car hydraulic steering system. But, hydraulic steering system can't juggle vehicles to speed portability and high speed, so the steering stability Koyo in Japan in 1983, with the company introduced the application of speed sensing function of hydraulic steering system. This new type of steering system can provide speed increased with the decreasing steering, but complicated structure, cost is higher, and cannot overcome hydraulic system itself has many shortcomings, is a cross between a hydraulic steering and electric power steering the transition between the products. In 1988, Japan Suzuki company first in small cars equipped with Cervo Koyo company development on the steering column, power type electric power steering system; In 1990, Japan Honda NSX in sports car company adopted self-developed rack power type electric power steering system, henceforth unveils the electric power steering in cars applications history 2.Working principle Electric power steering system are as follows: first, the working principle, torque sensor measured on steering wheel drivers on the manipulation of the moment, the wheel speed sensors detect the vehicle driving speed, then present the two signals to ECU; According to the built-in control strategy: ECU, calculates the ideal target booster torque, into current instructions to motor; Then, the power generated by the torque motor slowdown institutions amplification on steering system in mechanical manipulation of the moment, and the driver together to overcome resistance torque, realize to the vehicle steering. 3. Working process
1 Introduction The key task for the automobile industry and its suppliers in future lies in speedily developing and implementing ecologically sound and economically justifiable mobility systems. Light metals such as aluminum and magnesium along with glass and carbon fiber reinforced materials, ceramics and composites have opened up the potential for considerable weight reduction and for "green" vehicle concepts which can be realized economically. Aluminum in particular can provide the impetus for new designs for the next millennium. Decades ago, the use of aluminum in auto construction was seen as an "experiment"; Today it is a vital factor in reducing weight and thus lowering fuel consumption. The average passenger car today contains 60 to 70 kg of aluminum, and current developments point to a doubling of this amount in the next few years. Motor vehicles both now and in future must meet requirements for: greater performance, greater safety, comfort, low pollution. Lightweight construction is not just about reducing weight; it is a question of -striking the right balance between reduced weight and structural efficiency. In vehicle construction this normally means making the best use of the generally very tight space available for individual components so as to allow weight to be minimized while still meeting all stiffness, strength, natural frequency or acoustical requirements. To achieve this, stresses must be distributed throughout the structure as evenly as possible. Modern numerical analysis methods such as FEA allow a very detailed analysis of system behavior, provide cost-efficient support for the complex process of optimization and thus make a huge contribution to advances in lightweight construction. Packaging, safety considerations, reproducibility and price place restrictions on the degree of weight reduction achievable. The broad range of expertise available to Krupp Presta AG allows the company to analyze customer specifications for steering systems and provide appropriate solutions. 2 Requirements to be met by steering systems The steering is an important part of the feel of a car. The steering system should make driving an enjoyable experience with no unpleasant vibration from the road surface while guaranteeing the required hand- sing. It is also important that high safety requirements be met, both under normal conditions and in crash situations. The key criteria for the steering system are thus as follows:rolling friction, torsional stiffness /strength, Damping, temperature, corrosion, durability / fatigue, weight. Crash kinematics and energy absorption steering column requirements:natural frequency / stiffness, mass, damping, space, strength (crash, misuse), ergonomics, handling, acoustics, crash kinematics and energy absorption. Other basic conditions:interfaces with adjacent components, installation, joining techniques, price. 3 Materials material light weighting can be achieved by using either stronger or lighter material. When stiffness or natural frequency are Important sizing criteria, low density materials with a high modulus of elasticity by quired. Non-exotic materials must be selected which are readily recyclable, low in price and display good durability.Further requirements are set by the manufacturing and joining processes. Steel, aluminum, magnesium and a variety of plastics are the materials of choice for steering systems.
智能汽车中英文对照外文翻译文献 (文档含英文原文和中文翻译) 翻译： 基于智能汽车的智能控制研究 摘要：本文使用一个叫做“智能汽车”的平台进行智能控制研究，该小车采用飞思卡尔半导体公司制造的MC9S12DG128芯片作为主要的控制单元，同时介绍了最小的智能控制系统的设计和实现智能车的自我追踪驾驶使用路径识别算法。智能控制智能车的研究包括:提取路径信息,自我跟踪算法实现和方向和速度控制。下文介绍了系统中不同模块的各自实现功能，最重要部分是智能车的过程智能控制：开环控制和闭环控制的应用程序包括增量式PID控制算法和鲁棒控制算法。最后一步是
基于智能控制系统的智能测试。 关键词：MC9S12DG128；智能控制;开环控制；PID；鲁棒； 1.背景介绍 随着控制理论的提高以及信息技术的快速发展,智能控制在我们的社会中发挥着越来越重要的作用。由于嵌入式设备有小尺寸、低功耗、功能强大等优点，相信在这个领域将会有一个相对广泛的应用,如汽车电子、航空航天、智能家居。如果这些技术一起工作，它将会蔓延到其他领域。为了研究嵌入式智能控制技术，“智能汽车”被选为研究平台,并把MC9S12DG128芯片作为主控单元。通过智能控制,智能汽车可以自主移动,同时跟踪的路径。 首先,本文给读者一个总体介绍智能车辆系统的[2、3]。然后,根据智能车辆的智能控制:提取路径信息,自我跟踪算法实现中,舵机的方向和速度的控制。它提供包括了上述四个方面的细节的智能车系统信息。此外,本文强调了智能车的控制过程应用程序包括开环控制、闭环增量PID算法和鲁棒算法。 2.智能车系统的总体设计 该系统采用MC9S12DG128[4]作为主芯片，以及一个CCD传感器作为交通信息收集的传感器。速度传感器是基于无线电型光电管的原理开发。路径可以CCD传感器后绘制收集的数据，并且系统计算出相应的处理。在同时，用由电动马达速度测试模块测量的智能汽车的当前速度进行响应的系统。最后，路径识别系统利用所述路径信息和当前的速度，以使智能汽车在不同的道路条件的最高速度运行。图1示出了智能车辆系统的框图。
Electronic power steering system What it is： Electrically powered steering uses an electric motor to drive either the power steering hydraulic pump or the steering linkage directly. The power steering function is therefore independent of engine speed, resulting in significant energy savings. How it works : Conventional power steering systems use an engine accessory belt to drive the pump, providing pressurized fluid that operates a piston in the power steering gear or actuator to assist the driver. In electro-hydraulic steering, one electrically powered steering concept uses a high efficiency pump driven by an electric motor. Pump speed is regulated by an electric controller to vary pump pressure and flow, providing steering efforts tailored for different driving situations. The pump can be run at low speed or shut off to provide
汽车悬架系统中英文对照外文翻译文献(文档含英文原文和中文翻译) 汽车悬架 现代汽车中的悬架系统有两种，一种是从动悬架，另一种是主动悬架。 从动悬架即传统式的悬架，是由弹簧、减振器（减振筒）、导向机构等组成，它的功能是减弱路面传给车身的冲击力，衰减由冲击力而引起的承载系统的振动。其中弹簧主要起减缓冲击力的作用，减振器的主要作用是衰减振动。由于这种悬架是由外力驱动而起作用的，所以称为从动悬架。 而主动悬架的控制环节中安装了能够产生抽动的装置，采用一种以力抑力的方式来抑制路面对 车身的冲击力及车身的倾斜力。由于这种悬架能够自行产生作用力，因此称为主动悬架。 主动悬架是近十几年发展起来的，由电脑控制的一种新型悬架，具备三个条件： （1）具有能够产生作用力的动力源；
（2）执行元件能够传递这种作用力并能连续工作； （3）具有多种传感器并将有关数据集中到微电脑进行运算并决定控制方式。因此，主动悬架汇集了力学和电子学的技术知识，是一种比较复杂的高技术装置。 例如装置了主动悬架的法国雪铁龙桑蒂雅，该车悬架系统的中枢是一个微电脑，悬架上有5 种 传感器，分别向微电脑传送车速、前轮制动压力、踏动油门踏板的速度、车身垂直方向的振幅及频率、转向盘角度及转向速度等数据。电脑不断接收这些数据并与预先设定的临界值进行比较，选择相应的悬架状态。同时，微电脑独立控制每一只车轮上的执行元件，通过控制减振器内油压的变化产生抽动，从而能在任何时候、任何车轮上产生符合要求的悬架运动。因此，桑蒂雅桥车备有多种驾驶模式选择，驾车者只要扳动位于副仪表板上的“正常”或“运动”按钮，轿车就会自动设置在最佳的悬架状态，以求最好的舒适性能。 另外，主动悬架具有控制车身运动的功能。当汽车制动或拐弯时的惯性引起弹簧变形时，主动悬架会产生一个与惯力相对抗的力，减少车身位置的变化。例如德国奔驰2000 款CL 型跑车，当车辆拐弯时悬架传感器会立即检测出车身的倾斜和横向加速度，电脑根据传感器的信息，与预先设定的临界值进行比较计算，立即确定在什么位置上将多大的负载加到悬架上，使车身的倾斜减到最小。 汽车主动悬架—液压和空气式 从控制力的角度划分，悬架可分为被动悬架，半主动悬架和主动悬架。目前，大多数汽车的悬架系统装有弹簧和减振器，悬架系统内无能源供给装置，其弹性和阻尼不能随外部工况变化，因此称这种悬架是被动悬架。 主动悬架有作为直接力发生器的动作器，可以根据输入与输出进行最优的反馈控制，使悬架有最好的减震特性，以提高汽车的平顺性和操纵稳定性。它由弹性元件C和一个力发生器Fe组成。 半主动悬架可看作由可变特性的弹簧和减振器组成的悬架系统，虽然它不能随外界的输入进行最优的控制和调节，但它可按存储在计算机的各种条件下最优弹簧和减振器的优化参数指令来调节弹簧的刚度和减振器的阻尼状态。它由弹性元件 C 和一个一个阻尼系数能在较大范围内调节的阻尼器组成。
毕业设计（论文）外文文献翻译 文献、资料中文题目：汽车电动助力转向系统的研究 文献、资料英文题目：The auto electric power steering system research 文献、资料来源： 文献、资料发表（出版）日期： 院（部）： 专业： 班级： 姓名： 学号： 指导教师： 翻译日期：2017.02.14
英文原文 The auto electric power steering system research Along with automobile electronic technology swift and violent development, the people also day by day enhance to the motor turning handling quality request. The motor turning system hanged, the hydraulic pressure boost from the traditional machinery changes (Hydraulic Power Steering, is called HPS), the electrically controlled hydraulic pressure boost changes (Electronic Hydraulic Power Steering, is called EHPS), develops the electrically operated boost steering system (Electronic Power Steering, is called EPS), finally also will transit to the line controls the steering system (Steer By Wire, will be called SBW). The machinery steering system is refers by pilot's physical strength achievement changes the energy, in which all power transmission all is mechanical, the automobile changes the movement is operates the steering wheel by the pilot, transmits through the diverter and a series of members changes the wheel to realize. The mechanical steering system by changes the control mechanism, the diverter and major part changes the gearing 3 to be composed. Usually may divide into according to the mechanical diverter form: The gear rack type, follows round the world -like, the worm bearing adjuster hoop type, the worm bearing adjuster refers sells the type. Is the gear rack type and follows using the broadest two kinds round the world -like (uses in needing time big steering force).In follows round the world -like in the diverter, the input changes the circle and the output steering arm pivot angle is proportional; In the gear rack type diverter, the input changes the turn and the output rack displacement is proportional. Follows round the world -like the diverter because is the rolling friction form, thus the transmission efficiency is very high, the ease of operation also the service life are long, moreover bearing capacity, therefore widely applies on the truck. The gear rack type diverter with follows round the world -like compares, the most major characteristic is the rigidity is big, the structure compact weight is light, also the cost is low. Because this way passes on easily by the wheel the reacting force to the steering wheel, therefore has to the pavement behavior response keen merit, but simultaneously also easy to have phenomena and so on goon and oscillation, also its load bearing efficiency relative weak, therefore mainly applies on the compact car and the pickup truck, at present the majority of low end passenger vehicle uses is the gear rack type machinery steering system. Along with the vehicles carrying capacity increase as well as the people to the vehicles handling quality request enhancement, the simple mechanical type steering system were already unable to meet the needs, the power steering system arise at the historic moment, it could rotate the steering wheel while the pilot to provide the boost, the power steering system divides into the
Auto steering system Abstract: With the rapid development of electronic technology, people on the vehicle steering control performance of more and more high. Wire control steering system will be the trend of the development of automobile steering system. Normally according to mechanical steering gear form can be divided into: super-modulus gear type, circulation ball type, worm wheel type, worm gear and worm refers to pin type. The increase of vehicle weight and people to the improvement of vehicle handling performance requirements, simple mechanical steering system can not meet needs, power steering system came into being, it can in the pilot turned the steering wheel and at the same time provide power, power steering system is divided into hydraulic steering system and electric steering system 2 kinds. Hydraulic steering system which is the most widely used steering system. Hydraulic steering system is the basis of the mechanical system increases the system, including hydraulic pump, v-shaped belt wheel, oil injection equipment, power devices and control valves. With the help of the automobile engine driving hydraulic pump, air compressor and generator etc, in order to hydraulic, pneumatic or electric power increases the power of the front wheel steering the pilot control to make drivers can light the flexibility to manipulate car turned, reduce labor intensity, improve the driving safety. Electric power steering system is now the development direction of car steering system, its working principle is: EPS system to the ECU from steering wheel torque sensor and speed sensor signal analysis, control motor to produce the proper power torque, assist drivers finish to the operation. Key words: Wire control steering system Hydraulic steering system Electric power steering system sensor Along with automobile electronic technology swift and violent development, the people also day by day enhance to the motor turning handling quality request. The motor turning system changed, the hydraulic pressure boost from the traditional machinery changes (Hydraulic Power Steering, is called HPS), the electrically controlled hydraulic
附件1：外文资料翻译译文 北京运输系统 摘要：运输系统提供了与城市郊区显着不同的服务，这通常会导致有关用户选择交通方式的不同假设。本文所提到的仿真模型，提出了评估影响运输服务的政策。运输方式被认为是公共交通工具，包括轻型轨道交通（轻轨）和公共汽车，加上私人轿车。在三步旅行者行为仿真模型中，使用了广义运输成本的概念。它提出各类交通以及对居民的出行选择和郊区住宅社区形态量化的建议，并使用了源自于中国北京一个典型走廊的数据。 仿真结果表明：票价降低，增加公共交通的综合能力，以及对私家车的惩罚是很有必要的，以此来提高系统效率和郊区的吸引力，特别是对那些低收入的人；没有公路定价，将鼓励中等收入居民转向私人轿车，同时,高收入者可能因为道路拥挤离开郊区；然而公共交通的改善可以吸引更多短距离和中距离的旅客，但轿车用户对于旅行距离并不敏感。 关键词：广义成本，公共交通，拥挤定价，运输服务，北京 从上世纪90年代，中国大中城市已经历郊区化，而且这些城市的空间结构逐步形成，在很大程度上依赖于交通运输的进步。由于人口爆炸和改造中心城市，许多郊区城镇发展为住宅区，这些新发展城镇的大部分居民受雇于中心城市或附近的工业区。例如，80%多回龙关郊区社区的居民在北京或发达地区中心城市工作，几乎有一半的北京社区居民受雇于朝阳区中央商务区。这些领域在交通系统规划与提供经营效率方面对交通政策制定者和城市规划设计师提出了新的挑战。 在许多情况下，边沿城镇通过高速公路和城市轨道连接中心城市或工业园区。相比传统的城市，郊区展览更稳定的运输使用模式，更加依赖公共交通，私人汽车，较少使用机动模式（自行车，步行）。工作距离比任何单一因素对人们的交通方式
汽车转向系统 随着汽车电子技术的迅猛发展，人们对汽车转向操纵性能的要求也日益提高。汽车转向系统已从传统机械转向、液压助力转向(Hydraulic Power Steering ,简称HPS) 、电控液压助力转向( Electric Hydraulic PowerSteering , 简称EHPS) ，发展到电动助力转向系统(Electric Power Steering ,简称EPS) ，最终还将过渡到线控转向系统(Steer By Wire ，简称SBW)。 机械转向系统是指以驾驶员的体力作为转向能源，其中所有传力件都是机械的，汽车的转向运动是由驾驶员操纵方向盘，通过转向器和一系列的杆件传递到转向车轮而实现的。机械转向系由转向操纵机构、转向器和转向传动机械3大部分组成。 通常根据机械式转向器形式可以分为:齿轮齿条式、循环球式、蜗杆滚轮式、蜗杆指销式。应用最广的两种是齿轮齿条式和循环球式(用于需要较大的转向力时) 。在循环球式转向器中，输入转向圈与输出的转向摇臂摆角是成正比的;在齿轮齿条式转向器中，输入转向圈数与输出的齿条位移是成正比的。循环球式转向器由于是滚动摩擦形式，因而正传动效率很高，操作方便且使用寿命长，而且承载能力强，故广泛应用于载货汽车上。齿轮齿条式转向器与循环球式相比，最大特点是刚性大，结构紧凑重量轻，且成本低。由于这种方式容易由车轮将反作用力传至转向盘，所以具有对路面状态反应灵敏的优点，但同时也容易产生打手和摆振等现象，且其承载效率相对较弱，故主要应用于小汽车及轻型货车上，目前大部分低端轿车采用的就是齿轮齿条式机械转向系统。 随着车辆载重的增加以及人们对车辆操纵性能要求的提高，简单的机械式转向系统已经无法满足需要，动力转向系统应运而生，它能在驾驶员转动方向盘的同时提供助力，动力转向系统分为液压转向系统和电动转向系统2 种。其中液压转向系统是目前使用最为广泛的转向系统。 液压转向系统在机械系统的基础上增加了液压系统，包括液压泵、V 形带轮、油管、供油装置、助力装置和控制阀。它借助于汽车发动机的动力驱动液压泵、空气压缩机和发电机等，以液力、气力或电力增大驾驶员操纵前轮转向的力量，使驾驶员可以轻便灵活地操纵汽车转向，减轻了劳动强度，提高了行驶安全性。 液压助力转向系统从发明到现在已经有了大约半个世纪的历史，可以说是一种较为完善的系统，由于其工作可靠、技术成熟至今仍被广泛应用。它由液压泵作为动力源，经油管道控制阀向动力液压缸供油，通过活塞杆带动转向机构动作，可通过改变缸径及油压的大小来改变助力的大小，由此达到转向助力的作用。传统液压式动力转向系统一般按液流的形式可以分为:常流式和常压式2 种类型，也可根据控制阀形式分为转阀式和滑阀式。 随着液压动力转向系统在汽车上的日益普及，人们对操作时的轻便性和路感的要求也日益提高，然而液压动力转向系统却存在许多的缺点：①由于其本身的结构决定了其
附录 A 一、课题国内外现状 转向器又名转向机、方向机，它是转向系中最重要的部件。转向器的作用是：增大转向盘传到转向传动机构的力和改变力的传递方向。 转向器按结构形式可分为多种类型。目前较常用的有齿轮齿条式、蜗杆曲柄指销式、循环球-齿条齿扇式、循环球曲柄指销式、蜗杆滚轮式等。如果按照助力形式，又可以分为机械式（无助力），和动力式（有助力）两种，其中动力转向器又可以分为气压动力式、液压动力式、电动助力式、电液助力式等种类。 转向器的工作原理就是，当驾驶员左右转动方向盘时，通过带有万向传动装置的转向柱转动，使转向螺杆转动，循环球在螺旋管状通道内滚动，形成“球流”。钢球在管状通道内绕行两周后，流出转向螺母而进入导管的一端，再沿导管经导管的另一端流回螺旋管状通道。故在转向器工作时，两列钢球在各自的封闭管道内循环，而不致脱出。钢球流动的同时，推动螺母沿螺杆前后移动。然后，齿条带动齿扇摆动，使摇臂轴发生转动。最后，通过转向传动机构推动转向轮偏转，实现汽车转向。 近年来，我国汽车工业呈现出稳定快速增长的态势。作为汽车关键部件之一的转向器也得到了较为快速地发展，在产销规模不断增长的同时，技术水平也得到了一定程度的提升。 在国内汽车配装的转向器产品中，商用车（主要是载货车）有95%以上是自主品牌转向器。在中高档轿车中，2/3车辆使用的是中外合资企业或外商独资企业生产的转向器，1/3的车辆使用自主品牌转向器。低档轿车则几乎全部使用自主品牌转向器[4]。汽车转向器机构涉及整车的操纵性、稳定性和安全性，它的质量也反映了车辆的质量，是直接关系到车辆性能的关键部件。 对转向系统的要求，最主要的是转向的灵敏性和操纵的轻便性。高的转向灵敏性，要求转向器具有小的传动比；好的操纵轻便性，则要求转向器具有大的传动比。这个矛盾一直都以一个很难解决的问题。而循环球式转向器的传动效率可达到75%~85%；转向器的传动比可以变化；工作平稳可靠；齿条和齿扇之间的间隙调整容易；适合用来做整体式动力转向器，达到矛盾的平衡。 二、研究主要成果 1、做成整体式动力转向器应用于各种工况的多种车辆中。 2、制成变传动比转向器解决转向灵敏度和转向力之间的矛盾。 3、可逆式转向器保证转向后转向轮和转向盘自动回证，减轻驾驶员疲劳，提高行
附录A 外文文献 Overview ofDevelopment on Vehicle EPS System Abstract The currentdevelopment of an electric power steering(EPS) system in an automobile is explicated. The structure, types and characteristics of electric power steering system are introduced. The modeling technologies for electric power steering system and control strategies are analyzed and compared. The development trend of electric power steering system in an automobile is also discussed. It is pointed that the electric power steering technology is one orientation ofpower steering technologies in the future, and whichwill occupy a predominantposition in power steering field. Key words:Automobile; Electric power steering system; Development trend 1EPS system types and characteristics 1.1EPS system classification The early development of EPS system is low in steering type car。Present 4 types of EPS system are based on rack-and pinion steering system,The installation position according to power motors can be divided into different:Type booster steering、Small gear power type、Double small gear power type and Rack power type。The steering the instrumentality of motor power type EPS installed in the steering,Motor power torque through increased after worm worm gear deceleration in the steering directly added twist。Its advantage is motor can be installed in any position hacking,Relative to other several types minimum cost;The drawback to motor torque ripple effects of driver feel bigger。The drawback to motor torque ripple effects of driver feel bigger,The instrumentality of torque motor added in small gear axle directly。Advantage: rigid, steering road to feel strong。Double pinion steering rack boosts type EPS are installed on two small gear, A small gear and steering plate connected, power motors through another pinion and rack meshing, provide power for rack. Advantage: can provide relatively large pow. 1.2EPS system merit