The invention provides a double-target super-spiral sliding mode control method for a volume speed regulation type electro-hydraulic steering system, and the method comprises the steps: building a kinetic model in consideration of nonlinearity and unknown interference, and converting the kinetic model into a state space model through input and output linearization; designing a super-spiral sliding mode control system rotation angle and oil return port pressure double-target controller under the double saturation functions; a model multivariable main item proportion self-regulation factor is constructed, control parameters are optimized by adopting a particle swarm algorithm, so that optimal control gain searching is completed, strong buffeting easily generated due to existence of high-order terms in a system state equation is further weakened, and robustness is enhanced; and establishing a sliding mode buffeting suppression degree evaluation method according to the actual change amplitude-frequency value of the sliding mode surface function, and verifying the effectiveness of the control method. According to the volume speed regulation type electro-hydraulic steering system for the heavy vehicle, excellent dynamic performance is achieved under the condition that low energy consumption is guaranteed, the control precision is improved, the buffeting degree is restrained, rapid convergence is guaranteed, and finally high-performance steering angle tracking control is achieved.
本发明提出了一种容积调速式电液转向系统双目标超螺旋滑模控制方法,包括:考虑非线性和未知干扰建立动力学模型,通过输入输出线性化转化为状态空间模型;设计双饱和函数下的超螺旋滑模控制系统转角和回油口压力双目标控制器;构建模型多变量主项占比自调节因子,采用粒子群算法对控制参数进行优化,以此完成对搜寻最优控制增益,并进一步削弱由系统状态方程存在高阶项而易产生强的抖振、增强鲁棒性;根据滑模面函数实际变化幅频值建立抑制滑模抖振程度评价方法,验证控制方法的有效性。本发明面向重型车辆容积调速式电液转向系统在保证较低能耗下实现优良动态性能,提高控制精度,抑制抖振程度,保证快速收敛性,最终实现高性能转角跟踪控制。
Double-target super-spiral sliding mode control method for volume speed regulation type electro-hydraulic steering system
一种容积调速式电液转向系统双目标超螺旋滑模控制方法
2024-08-09
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
European Patent Office | 2023
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