The invention relates to a self-adaptive power-assisted steering control method for a distributed electric drive-by-wire automobile. Compared with the prior art, the defect that self-adaptive adjustment cannot be achieved in power-assisted steering control can be solved. The method comprises the following steps: acquiring ideal steering wheel torque data; designing a tracking differentiator; designing an extended state observer; defining a nonlinear error feedback control rule; performing parameter optimization on each controller; acquiring automobile driving data; and self-adaptive control of drive-by-wire power-assisted steering. According to the method, the actual steering wheel torque of the distributed electric drive-by-wire automobile tracks the ideal steering wheel torque, the front wheel torque difference is obtained through calculation of the controller, and self-adaptive power-assisted steering can be achieved after the front wheel torque difference is distributed to the front wheels.
本发明涉及一种分布式电驱动线控汽车自适应转向助力控制方法,与现有技术相比解决了转向助力控制无法实现自适应调整的缺陷。本发明包括以下步骤:理想方向盘转矩数据的获取;跟踪微分器的设计;扩张状态观测器的设计;定义非线性误差反馈控制规律;对各控制器进行参数优化;汽车行驶数据的获取;线控助力转向的自适应控制。本发明使得分布式电驱动线控汽车实际方向盘转矩跟踪理想方向盘转矩,通过控制器计算得到前轮转矩差,分配给前轮后可实现自适应助力转向。
Self-adaptive power-assisted steering control method for distributed electric drive-by-wire automobile
一种分布式电驱动线控汽车自适应转向助力控制方法
2021-12-14
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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