线控转向系统自适应抗扰转角控制策略

doi:10.19562/j.chinasae.qcgc.2025.05.009

Abstract

Abstract:

An adaptive anti-disturbance angle control strategy is proposed to address the nonlinear disturbances such as system parameter uncertainty， tire return torque obstruction， and coupling of electromagnetic characteristics of steering motors， which are faced by the active steering of Steer-by-Wire （SBW） system. A radial basis function neural network and robust sliding mode theory are used to design the outer-loop cornering controller to adaptively compensate for the SBW system parameter uncertainty and tire return torque obstruction. Linear self-immunity control is introduced into the inner-loop current controller to cope with the coupling problem of electromagnetic characteristics of the steering actuator motor so as to improve the dynamic response performance of the SBW system. The simulation and hardware-in-the-loop test results show that the designed control strategy can help the SBW maintain the cornering steady state following error within 1.5° under various operating conditions.

Key words: vehicle engineering, steer-by-wire system, angle tracking strategy, nonlinear disturbance, adaptive control, hardware-in-the-loop

Jian Zhao,Cong He,Feng Liu,Bing Zhu,Jing Chen,Zhicheng Chen. Adaptive Anti-jamming Angle Control Strategy for Steer-by-Wire System[J].Automotive Engineering, 2025, 47(5): 888-896.

Figures/Tables 13

参数	含义	数值
$R s$	电机定子电阻	$9.0 × 10 - 3 ? Ω$
$L d$	电机励磁轴电感	$7.2 × 10 - 5 ? H$
$L q$	电机转矩轴电感	$7.2 × 10 - 5 ? H$
$ψ f$	电机永磁体磁链	$1.03 × 10 - 2 ? W b$
$P n$	电机磁极对数	$4$ .0
$J m$	转向执行电机转动惯量	$1.46 × 10 - 4 ? k g ? m 2$
$B m$	转向执行电机阻尼系数	$9.9 × 10 - 4 ? k g ? m 2 ? s - 1$
$J e q$	等效系统的转动惯量	$2.05 × 10 - 2 ? k g ? m 2$
$B e q$	等效系统的阻尼系数	$0.52 ? k g ? m 2 ? s - 1$
$T e q$	等效系统的摩擦因数	$0.2 ?$

参数	含义	数值
$c 1, c 2$	本文滑模面控制参数	$6,10$
$m, η$	本文滑模趋近律参数	$10,300$
$c j$	本文RBF函数中心点	-1；-0.5；0；0.5；1
$b j$	本文RBF函数宽度	$0.5$
$ε f, ε d$	本文RBF逼近误差	$0.001,0.01$
$γ 1, γ 2$	本文RBF自适应律	$100,80$
$k p q, ω q 0$	本文电流环转矩轴参数	$30,150$
$k p d, ω d 0$	本文电流环励磁轴参数	$30,150$
$c 3, c 4$	控制器1滑模面控制参数	$10,20$
$m 1, η 1$	控制器1滑模趋近律参数	$50,300$
$k p d 2, k i d 2$	控制器2励磁轴PI参数	$0.2,2$
$k p q 2, k i q 2$	控制器2转矩轴PI参数	$4,0.5$
$k p, k i$	控制器3电流环调节系数	100，10 000
$k p 1, k i 1$	控制器4位置环PI参数	$10,5$
$k p 2, k i 2$	控制器4转速环PI参数	$25,20$
$k p d 1, k i d 1$	控制器4励磁轴PI参数	$5,1$
$k p q 1, k i q 1$	控制器4转矩轴PI参数	$2,10$

工况	具体说明
变斜坡	时间	0 $→ 1 ?$ s $→ 5 ? s → 8 ? s → 1$ 0 s $→ 12 ? s → 15 ? s$
	目标转角	$0 ° → 0 ° → 60 ° → 60 ° → 30 ° → 30 ° → 0 °$
	电机电感	$L q$ 在第8 s突变为理想值的200%

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缩写	具体控制策略
本文	位置环（RBF-SMC）+电流环（LADRC）
控制器1	位置环（SMC^［13］）+电流环（LADRC）
控制器2	位置环（RBF-SMC）+电流环（PI）
控制器3	位置环（RBF-SMC）+电流环（CFDC^［21］）
控制器4	位置环（PI）+转速环（PI）+电流环（PI）

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Adaptive Anti-jamming Angle Control Strategy for Steer-by-Wire System

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