The invention relates to a steering-by-wire system steering angle self-adaptive control method considering nonlinear characteristics. Comprising the steps that 1, a steer-by-wire system model which comprises a steering execution motor model and a gear rack steering gear model and is designed for a controller is built; 2, designing a position loop controller based on a sliding mode variable structure theory, and adaptively compensating tire aligning torque external disturbance and system parameter uncertainty faced by the steer-by-wire system by applying a radial basis function neural network; and 3, designing a current loop controller by applying a linear active disturbance rejection control theory, and realizing decoupling control of excitation shaft current and torque shaft current of the steering execution motor. According to the double-loop steering angle control method, a position loop controller and a current loop controller are combined, a steer-by-wire system is effectively helped to overcome the non-linear problems such as tire aligning torque external disturbance, system parameter uncertainty and steering execution motor electromagnetic characteristic coupling, and high-precision and fast-response steering angle tracking control is achieved.
本发明是一种考虑非线性特性的线控转向系统转角自适应控制方法。包括:一、搭建包含转向执行电机模型、齿轮齿条转向器模型在内的面向控制器设计的线控转向系统模型;二、基于滑模变结构理论设计位置环控制器,并且应用径向基神经网络自适应补偿线控转向系统面临的轮胎回正力矩外部扰动和系统参数不确定性;三、应用线性自抗扰控制理论设计电流环控制器,实现转向执行电机励磁轴电流与转矩轴电流的解耦控制。本发明结合了位置环控制器和电流环控制器的双环转角控制方法,有效地帮助了线控转向系统克服轮胎回正力矩外部扰动、系统参数不确定性和转向执行电机电磁特性耦合等非线性问题,实现了高精度、快响应的转角跟踪控制。
Steer-by-wire system steering angle self-adaptive control method considering nonlinear characteristics
一种考虑非线性特性的线控转向系统转角自适应控制方法
2024-04-05
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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