The present invention discloses a vehicle fuzzy feedforward path tracking control method based on hydraulic steering leakage compensation, comprising: acquiring a steering wheel angle, a wheel angle, and a piston rod displacement parameter; outputting a desired wheel angle and a desired steering wheel angle in different cycles through a path tracking algorithm; obtaining a feedforward leakage compensation parameter through fuzzy control; constructing a fuzzy control system; defuzzifying the fuzzy control system using the centroid method to obtain a fuzzy sliding mode controller, and using the fuzzy sliding mode controller to perform a comparative analysis of an actual rear wheel angle, controlling a compensation solenoid valve to perform fluid replenishment for each path tracking cycle, repeating the above steps to perform calculations for a next cycle of the path tracking algorithm, and completing an entire path tracking process. The present invention can accurately determine the feedforward compensation parameter, thereby controlling the duty cycle of the compensation solenoid valve to precisely and timely compensate for the leakage fluid, and improving the path tracking accuracy of intelligent vehicles.
VEHICLE FUZZY FEEDFORWARD PATH TRACKING CONTROL METHOD BASED ON HYDRAULIC STEERING LEAKAGE COMPENSATION
FUZZY-VORWÄRTSKOPPLUNGS-WEGVERFOLGUNGSSTEUERVERFAHREN FÜR EIN FAHRZEUG AUF DER BASIS VON HYDRAULISCHER LENKLECKKOMPENSATION
PROCÉDÉ DE COMMANDE FLOUE DE SUIVI DE TRAJET ANTICIPÉ DE VÉHICULE BASÉ SUR UNE COMPENSATION DE FUITE DE DIRECTION HYDRAULIQUE
2025-05-28
Patent
Electronic Resource
English
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