基于KFESO的四轮主动转向积分滑模控制

doi:10.19562/j.chinasae.qcgc.2024.01.011

Abstract

Abstract:

In order to eliminate the influence of parameter uncertainty and external uncertain disturbances on the handling stability of four-wheel steering vehicles， a nonlinear integral sliding mode control method based on kalman filter extended state observer for four-wheel active steering is proposed. Firstly， the kalman filter extended state observer （KFESO） is designed to realize the vehicle state observation and external disturbance estimation， which overcomes the disadvantage of traditional kalman filter algorithm's dependence on high-precision models. Secondly， to reduce the tracking control error of the target ideal state of the vehicle caused by disturbances， the disturbance observed by KFESO is compensated to the control input. In order to realize global robust control and suppress integral saturation， a nonlinear integral sliding mode control method based on exponential convergence is designed. Finally， hardware in the loop test results indicate that the KFESO has high observation accuracy in the presence of internal and external uncertain disturbances in the system， and the KFESO-ISMC method has excellent anti-interference performance in controlling the stability of four-wheel active steering compared to LQR and ISMC methods.

Key words: four-wheel active steering, steering by wire, disturbance observer, Kalman filter, integral sliding mode control

Bin Deng, Weihan Li, Di Wu, Bingzhan Zhang, Han Zhao. Integral Sliding Mode Control for Four-Wheel Active Steering Based on Kalman Filter Extended State Observer[J].Automotive Engineering, 2024, 46(1): 100-108.

Figures/Tables 15

References 24

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参数	名义数值	实际数值
整车质量m/kg	1 500	1 600
前轮轮胎侧偏刚度k_f/（N·rad^-1）	-62 566	-64 562
后轮轮胎侧偏刚度k_r/（N·rad^-1）	-63 566	-63 861
质心到前轴的距离l_f /m	1.25	1.50
质心到后轴的距离l_r /m	1.40	1.22
轴距L/m	2.72	2.72
横摆转动惯量J_z /（kg·m²）	3 950	4 250

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Integral Sliding Mode Control for Four-Wheel Active Steering Based on Kalman Filter Extended State Observer

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