A steering-by-wire system for a vehicle includes a hand wheel, a steering gear attached to at least one steered wheel, and at least one actuator connected to the hand wheel or the steering gear of the vehicle to apply torque to the hand wheel or the steering gear, the steering-by-wire system including a control circuit including: a first PID controller configured to control the hand wheel or the steering gear; and a controller receiving the setpoint signal at an input and providing as an output a control signal for controlling the motor, the controller being arranged in a closed loop with the motor and configured to minimize an error value indicative of a difference between a desired behavior of the motor indicated by the setpoint signal and an actual behavior of the motor, and a neural network configured to provide a neural network to the motor, a neural network having an input layer of neurons, at least one hidden layer of neurons, and an output layer including at least one output neuron wherein the neural network includes a feed-forward neural network that receives a demand signal at the input layer of input neurons, a drive signal output from a controller, and an error value, and wherein the neural network is configured to determine one or more of P-gain, I-gain, and D-gain terms used by the PID controller, and further wherein the neural network receives at least one additional discrete environment variable as a feed-forward term.
一种用于车辆的线控转向系统,包括手轮、附接至至少一个转向车轮的转向齿轮、以及连接到车辆的手轮或转向齿轮以向该手轮或转向齿轮施加扭矩的至少一个致动器,该线控转向系统包括控制电路,该控制电路包括:第一PID控制器,其在输入端处接收设定点信号并提供用于控制马达的控制信号作为输出,控制器与马达被布置在闭环中,并被配置为最小化指示由设定点信号指示的马达的所需行为与马达的实际行为之间的差异的误差值,以及神经网络,其具有神经元的输入层、神经元的至少一个隐藏层以及包括至少一个输出神经元的输出层,其中神经网络包括前馈神经网络,其在输入神经元的输入层处接收需求信号、从控制器输出的驱动信号以及误差值,并且其中神经网络被配置为确定PID控制器使用的P增益、I增益和D增益项中的一个或多个,并且进一步其中神经网络接收至少一个附加离散环境变量作为前馈项。
Steer-by-wire system for motor vehicle
用于机动车辆的线控转向系统
17.10.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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