| 摘要 |
transport engineering; automotive industry. SUBSTANCE: invention is designed for electromechanical steering systems of vehicle intended for maneuvering operations. Proposed electric drive has series-connected torque transmitter installed at steering mechanism input, non-liner shaper of main component of drive torque setting action coupled by its output with first plus input of adder, motor control unit and motor furnished with current sensor and speed pickup connected to drive actual torque meter whose output is coupled with minus input of adder. Electric drive is additionally furnished with observer of second derivative of steering wheel turning angle coupled by its inputs with torque transmitter at steering mechanism input and with electric motor speed pickup, and by output, with the second plus input of adder. Said observer has adder, first input of which is connected through two series- connected differentiating elements with torque transmitter output and second input, through secured-connected third differentiating and first amplifying elements, with electric motor speed pickup. Output of adder is connected through second amplifying element to observer output. EFFECT: improved accuracy of steering at maneuvering. 2 cl, 3 dwg |
