The invention provides an intelligent vehicle steer-by-wire motor control method. A steer-by-wire motor adopts double closed-loop control of a corner loop and a current loop; the corner loop is controlled by an improved nonlinear active-disturbance-rejection controller, and the current loop is controlled by a fractional order PID (Proportion Integration Differentiation) controller; the improved non-linear active disturbance rejection controller comprises an improved third-order non-linear extended state observer and a non-linear state error feedback control law, wherein the non-linear state error feedback control law adopts super-spiral second-order sliding mode control. According to the method, the disturbance resistance and robustness of the steer-by-wire motor system are enhanced, the estimation precision of the observer is improved, and the tracking performance of the steer-by-wire motor is improved.
本发明提出一种智能车线控转向电机控制方法,线控转向电机采用转角环和电流环双闭环控制;转角环采用改进型非线性自抗扰控制器控制,电流环采用分数阶PID控制器控制;改进型非线性自抗扰控制器包括改进型三阶非线性扩张状态观测器和非线性状态误差反馈控律,其中非线性状态误差反馈控律采用超螺旋二阶滑模控制。本发明方法增强了线控转向电机系统的抗扰性和鲁棒性,提高了观测器的估计精度,改善了线控转向电机的跟踪性能。
Intelligent vehicle steer-by-wire motor control method
一种智能车线控转向电机控制方法
2025-03-21
Patent
Electronic Resource
Chinese
Steer-by-wire limiting device, steer-by-wire system and steer-by-wire motor vehicle
European Patent Office | 2020
|Intelligent steer-by-wire vehicle robust stability control method
European Patent Office | 2025
|European Patent Office | 2021
|Steer-by-Wire System, Motor Vehicle, and Method for Operating a Steer-by-Wire System
European Patent Office | 2019
|