The invention discloses a drive-by-wire steering angle tracking control method based on event triggering, and the method comprises the steps: firstly introducing a nonlinear variable in a radial basis function neural network algorithm simulation model, and building a drive-by-wire steering system execution mechanism dynamic model; and then, designing a corner tracking controller for the established kinetic model, and designing event triggering conditions, so that the output time of a steering execution motor is spaced, and the occupation of communication resources is reduced. And then, selecting a specific control rate parameter, updating the weight of the neural network in the control rate and the Nursall function, combining the sliding mode control rate to obtain the torque control rate of the execution mechanism of the steer-by-wire system, and calculating the torque of the steering motor. And finally, steering of a steering wheel according to an expected path is achieved by controlling the torque of a steering execution motor, and the adopted neural network has the capacity of fitting nonlinear torque interference and has certain fault-tolerant capacity.
本发明公开了一种基于事件触发的线控转角跟踪控制方法,首先引入径向基神经网络算法模拟模型中的非线性变量,建立线控转向系统执行机构动力学模型。然后,对所建立的动力学模型进行转角跟踪控制器的设计,并设计有事件触发条件,使得转向执行电机输出的时间产生间隔,减少对于通讯资源的占用。接着,选取特定的控制率参数,更新控制率中神经网络的权值以及努斯鲍姆函数,结合所述滑模控制率,得到线控转向系统执行机构的扭矩控制率,计算转向电机扭矩。最后,通过控制转向执行电机扭矩实现转向轮按预期路径转向,采用的神经网络具有拟合非线性力矩干扰的能力,具有一定的容错能力。
Drive-by-wire corner tracking control method based on event triggering, storage medium and equipment
一种基于事件触发的线控转角跟踪控制方法、存储介质及设备
2023-07-28
Patent
Elektronische Ressource
Chinesisch
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