摘要
线控转向是智能底盘的关键技术之一,转角高精度跟踪是线控转向的控制核心目标,基于混合控制理论,本文设计了一种基于扰动转矩观测的转向角跟踪预测滑模控制方法,采用滑模控制作为核心算法,以适配线控转向系统动力学中的非线性特性,采用比例积分观测器估计总扰动转矩并补偿系统的不良影响,采用模型预测控制算法对滑模面参数进行优化,在装配有电机线控转向系统的实验车上对所设计的混合控制方法进行了测试和验证,实验结果表明所设计的预测滑模控制器能够实现较优的转角跟踪性能,以及比例积分观测器可以准确地估计系统总集成扰动转矩。
Steer-by-wire technology is one of the key technologies of intelligent chassis,in which high-pre-cision steering angle following is the core control objective.Based on the hybrid control theory,a disturbance torque estimation-based predictive sliding mode control approach for steering angle following is designed.The sliding mode control is used as the core algorithm to adapt to the nonlinear characteristics of the steer-by-wire system dynamics.A PI observer is used to estimate the total disturbance torque and the adverse effect of the system is compensated.The model predictive control algorithm is used to optimize the sliding manifold parameters.The designed approach is tested and validated in a steering test vehicle equipped with an electric motor steer-by-wire system.The experimen-tal results show that the designed predictive sliding mode controller can realize better angle trajectory following and the PI observer can estimate the lumped disturbance torque accurately.
作者
贺林
徐子昂
黄春荣
龚超
李书华
石琴
He Lin;Xu Ziang;Huang Chunrong;Gong Chao;Li Shuhua;Shi Qin(School of Automobile and Transportation Engineering,Hefei University of Technology,Hefei 230009;Laboratory of Automobile Intelligence and Electrification,Hefei University of Technology,Hefei 230009)
出处
《汽车工程》
EI
CSCD
北大核心
2023年第12期2200-2208,共9页
Automotive Engineering
基金
江苏省重点研发计划重点项目(BE2021006-2)
安徽省新能源汽车暨智能网联汽车产业技术创新工程项目(GXXT-2020-076)
汽车仿真与控制国家重点实验室开放基金项目(20201107)资助。
关键词
线控转向
滑模控制
模型预测控制
PI观测器
滑模面参数优化
扰动转矩观测
steer-by-wire
sliding mode control
model predictive control
PI observer
optimized sliding manifold parameter
disturbance torque estimation
