The invention discloses a vehicle active front wheel steering improved sliding mode extension control method based on an extended state observer, and relates to the field of electric vehicle active front wheel steering control. The area where the vehicle is located is judged according to the current characteristic state of the vehicle, different control strategies are selected, the dynamically-adjusted additional front wheel turning angle of the vehicle is output, and real-time control over the stability of the vehicle is achieved. The method comprises the following steps: step 1, establishing a space state equation of a vehicle two-degree-of-freedom model, and obtaining expected values of a yaw velocity and a side slip angle; 2, designing an integral exponential fast terminal sliding mode controller based on a fast exponential approach rate; 3, performing real-time observation and compensation on nonlinear interference items in the vehicle model by adopting a second-order expansion state observer; and step 4, forming the improved sliding mode extension controller. The model precision and the anti-interference performance are improved, the chattering phenomenon of sliding mode control is further suppressed, and the control effect of a global region is improved at the same time. And the method has relatively high precision and relatively strong robustness.

    本发明公开了一种基于扩张状态观测器的车辆主动前轮转向改进滑模可拓控制方法,涉及电动汽车主动前轮转向控制领域。根据车辆当前特征状态判断所处的区域,选择不同控制策略,输出动态调整的汽车附加前轮转角,实现对车辆稳定性的实时控制。步骤1、建立车辆二自由度模型的空间状态方程,获取横摆角速度和质心侧偏角的期望值;步骤2、设计基于快速指数趋近率的积分指数型快速终端滑模控制器;步骤3、采用二阶扩张状态观测器对车辆模型中的非线性干扰项进行实时的观测和补偿;步骤4、形成改进滑模可拓控制器。不仅提高了模型精度和抗干扰性能,进一步抑制了滑模控制的抖振现象,同时提升了全局区域的控制效果。具有较高的精度和较强的鲁棒性。


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    Title :

    Vehicle active front wheel steering improved sliding mode extension control method based on extended state observer


    Additional title:

    一种基于扩张状态观测器的车辆主动前轮转向改进滑模可拓控制方法


    Contributors:
    HUANG YU'ANG (author) / ZHAO YOUQUN (author) / LI DANYANG (author) / YU SONG (author)

    Publication date :

    2024-11-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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