LuGre model for the steering resistance torque of stationary commercial trucks
ZHU Xianmin1,2, SONG Jian1
1. State Key Laboratory of Automotive Safety and Energy, Department of Automotive Engineering, Tsinghua University, Beijing 100084, China; 2. National Emergency Transportation Equipment Engineering Research Center, Institute of Military Transportation, Tianjin 300161, China
Abstract：When a commercial truck turns while stationary, the power steering system needs to ensure that the driver can turn the wheels at this moment with the greatest steering resistance torque. Therefore, the stationary steering resistance torque of a truck is an important factor when designing power steering systems. The LuGre friction theory model for the friction resistance between the tire and the ground was used with models of the whole vehicle and its steering system to predict the gravity aligning torque and the steering friction resistance torque. The predictions gave the stationary steering resistance torque and the relationship between the torque and the steering wheel angle of commercial trucks. The results agree well with experimental data showing that this model accurately reflects the relationship between the stationary steering resistance torque and the steering wheel angle for improved power steering system designs.
朱先民, 宋健. 基于LuGre模型的商用车原地转向阻力矩[J]. 清华大学学报（自然科学版）, 2019, 59(7): 575-579.
ZHU Xianmin, SONG Jian. LuGre model for the steering resistance torque of stationary commercial trucks. Journal of Tsinghua University(Science and Technology), 2019, 59(7): 575-579.
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2019, Vol. 59 
