Implementation And Evaluation Of Steering Force Feedback System On Driving Simulator

With the rapid development of automobile industry and intelligent driving technology,people have put forward higher requirements for safe driving of automobiles,and the landing of control algorithms needs more rigorous testing.As a scientific research tool to carry out the key technology of automobiles,driving simulator has been widely used.In the application process of driving simulator,the research of steering system is one of its important research directions.In this thesis,from the steering system of the driving simulator,the composition of the steering wheel force sensing feedback is analyzed in detail and the corresponding control model is built.Through the corresponding tests,the force sensing feedback system is evaluated from subjective and objective aspects.This thesis takes the force feedback system as the research object,and the control of the feedback torque of the road sense motor and steering wheel is studied in the following aspects:Firstly,introduces the research progress at home and abroad,including the current situation of force feedback system,the current situation of driving simulator,and the development status of subjective and objective evaluation.;Secondly,a vehicle dynamics model is established.Set relevant parameters for each system in Carsim,and give a more detailed explanation of the composition of steering wheel torque;Then,the driving simulator based on Stewart 6-DOF motion platform is established.The software,hardware and communication are introduced in detail,and the accuracy of the driving simulator is verified by snake test and steering test.The SVPWM algorithm model of the PMSM and the active disturbance rejection control model of the forcesensing feedback system are established,compared with the traditional PID control for simulation,and the simulation results are analyzed and it is concluded that SVPWM algorithm is better than traditional PID algorithm.Finally,with reference to the national standard,a subjective and objective evaluation test was carried out on the built force feedback system.The subjective evaluation is scored by the driver after the test,and the corresponding score is calculated by reference to the national standard in the objective test.According to the subjective and objective evaluation scores,a comprehensive evaluation of the force feedback system is obtained and the corresponding score is calculated by reference to the national standard in the objective test and the performance evaluation score is 81.4.The results show that the steering performance is better,which indirectly proves the rationality of the force feedback system,and provides a reference for subsequent research.