Abstract: As one of the most important functions of steer-by-wire system, the accurate execution of feedback torque represents the correct reflection of vehicle information, but the existence of friction in the system leads to the deviation of the implementation of road feeling feedback torque. Firstly, the friction existing in the steer-by-wire system is analyzed in this paper. Considering the limitations of the commonly used Coulomb friction model, LuGre is proposed for friction compensation. The method of model parameter identification is proposed, and the model parameters of steering-by-wire platform are identified through hardship-in-loop experiment, which provides reference for the next step of road feeling torque design.

Key words: steering-by-wire; friction compensation; LuGre model; parameter identification

摘要： 路感反馈作为线控转向系统最重要的功能之一，反馈力矩的精准执行代表了车辆信息 的正确反映，而由于系统内摩擦力的存在导致路感反馈力矩执行出现偏差。文章首先对线控 转向系统内存在的摩擦力进行分析；考虑到常用的库仑摩擦模型的局限性，提出使用 LuGre 进行摩擦补偿；提出了模型参数辨识的方法，并通过硬件在环实验辨识了线控转向台架的模 型参数，为下一步的路感力矩设计提供参考。

关键词: 线控转向；摩擦补偿；LuGre 模型；参数辨识