智能车转向系统的研究及设计

Research and Design of Intelligent Vehicle Steering System

摘要:

设计了一套适合无人驾驶智能车BJUT-IV的转向系统；该系统转向电机采用奇瑞A3电子式助力转向系统(EPS)的转向电机；增量式光电编码器对转向电机的位置以及转速进行检测；汽车转向柱上安装SX4300转角传感器,对方向盘的旋转角度进行检测；该系统采用RS-232实现控制器与上位机之间的相互通信；实验证明,BJUT-IV智能车可以在阻力最大条件下快速准确地实现转向动作；该转向系统设计合理、稳定性高、实时性强；同时,转向系统的成功应用为今后智能车底层控制奠定基础。

Abstract:

Design a steering system for the Intelligent Vehicle, BJUT-IV. The system uses the steering motor of the Chery A3 electronic power steering system (EPS); using incremental encoder to detect the steering motor’s position and speed; SX4300,a kind of steering angle sensor, installed on the BJUT-IV to detect the steering wheel rotation angle. Between PC and the controller use RS232 to communicate. Experiments show, BJUT-IV can be realized steering rapidly and accurately under the condition of maximum resistance. The steering system design is reasonable, high stability and strong real-time. At the same time, the successful application of steering system is a foundation of intelligent car bottom control in the future.