Abstract: For the problem of high precision angle tracking control and anti-interference of active rear wheel steering system under complex working conditions and uncertain disturbances, firstly, the active rear wheel steering mechanism with adjustable length electronic beam angle bar is adopted to realize the rear wheel steering action, and the non-linear dynamic model is established for the system. Then, based on the analysis of dynamic model, improved active disturbance rejection control (ADRC) tracking control method for the active rear wheel steering angle is designed. Extended state observer (ESO) is used to observe external and internal disturbances and disturbances are compensated to the controller to achieve high precision angle control and anti-interference ability. Finally, experiments show that the steering mechanism with adjustable length electronic beam angle bar and improved ADRC method can achieve high accuracy angle tracking control under uncertain load disturbances. Compared with the conventional PID control, the improved ADRC control method has strong robustness and anti-interference.

Key words: active rear wheel steering, electronic beam angle bar, dynamic control, improved ADRC