线控转向系统转角预测滑模控制算法研究

doi:10.19562/j.chinasae.qcgc.2023.12.002

Abstract

Abstract:

Steer-by-wire technology is one of the key technologies of intelligent chassis， in which high-precision steering angle following is the core control objective. Based on the hybrid control theory， a disturbance torque estimation-based predictive sliding mode control approach for steering angle following is designed. The sliding mode control is used as the core algorithm to adapt to the nonlinear characteristics of the steer-by-wire system dynamics. A PI observer is used to estimate the total disturbance torque and the adverse effect of the system is compensated. The model predictive control algorithm is used to optimize the sliding manifold parameters. The designed approach is tested and validated in a steering test vehicle equipped with an electric motor steer-by-wire system. The experimental results show that the designed predictive sliding mode controller can realize better angle trajectory following and the PI observer can estimate the lumped disturbance torque accurately.

Key words: steer-by-wire, sliding mode control, model predictive control, PI observer, optimized sliding manifold parameter, disturbance torque estimation

Lin He,Ziang Xu,Chunrong Huang,Chao Gong,Shuhua Li,Qin Shi. Research on Sliding Mode Control Algorithm for Angle Tracking Prediction of Steer-by-wire System[J].Automotive Engineering, 2023, 45(12): 2200-2208.

Figures/Tables 6

References 27

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Research on Sliding Mode Control Algorithm for Angle Tracking Prediction of Steer-by-wire System

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