The invention discloses a steering angle tracking control method of an electro-hydraulic composite steering-by-wire system considering hydraulic time lag, which belongs to the technical field of electro-hydraulic composite steering, and comprises the following steps: establishing a T-S fuzzy model based on the time-varying characteristic of the electro-hydraulic composite steering-by-wire system; reconstructing a system Tube invariant set based on the characteristic that the value ranges of the time-varying time-lag of the electro-hydraulic composite steer-by-wire system are different under different state quantities; calculating the current optimal control quantity of the system in combination with a cost function and a self-triggering Tube MPC algorithm; according to the method, the steering angle control performance of the electro-hydraulic composite steer-by-wire system with hydraulic time-varying and time-lag is improved.
本发明公开了一种考虑液压时滞的电液复合线控转向系统转角跟踪控制方法,属于电液复合转向技术领域,步骤如下:基于电液复合线控转向系统时变特性建立T‑S模糊模型;基于电液复合线控转向系统的时变时滞在不同状态量下取值范围不同的特点重构系统Tube不变集;结合代价函数和自触发Tube MPC算法计算系统当前最优控制量;本发明提高了存在液压时变时滞的电液复合线控转向系统的转角控制性能。
Steering angle tracking control method of electro-hydraulic composite steer-by-wire system considering hydraulic time lag
考虑液压时滞的电液复合线控转向系统转角跟踪控制方法
2023-12-22
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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