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Steer-by-wire system control method based on sliding mode compensator

A technology of steering by wire and control method, which is applied in the field of vehicle engineering, and can solve the problems of low control accuracy of controller tracking error and weak robustness of controller tracking performance, etc.

Inactive Publication Date: 2017-08-18
HEFEI UNIV OF TECH
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  • Claims
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Problems solved by technology

[0009] The technical problem to be solved by the present invention is to overcome the shortcomings of the controller in the prior art, such as the weak tracking performance robustness and the low tracking error control precision of the controller, and provide a steering-by-wire system control system based on sliding mode compensator technology. method

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  • Steer-by-wire system control method based on sliding mode compensator
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  • Steer-by-wire system control method based on sliding mode compensator

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Embodiment Construction

[0050] The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are only part of the embodiments of the present invention. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative work all belong to the protection scope of this patent.

[0051] Embodiments of the present invention provide a control method for a steer-by-wire system based on sliding mode compensator technology to solve the problems of large tracking error, weak robustness and chatter in the prior art.

[0052] see figure 1 , the control method of the steer-by-wire system based on the sliding mode compensator technology, which includes the front wheel angle δ f and steering wheel angle θ h The real-time signal acquisition is characterized in that the main steps are as follows:

[0053] Step 1, make the two servo drivers of...

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Abstract

The invention discloses a steer-by-wire system control method based on a sliding mode compensator. The method comprises acquiring a front wheel rotating angle [delta]f and a steering wheel rotation reference angle [theta]hr; defining a tracking error [epsilon][theta] as a difference value between the front wheel rotating angle [delta]f and the steering wheel rotation reference angle [theta]hr; inputting three variables, as inputs, which are described in the specification and obtained in combination with robust differentiators to the sliding mode compensator and a nominal control for calculation to obtain u0 and u1, wherein the u0 is used for processing a lumped-uncertainty compensator signal, and the u1 is a nominal control signal; setting that a closed-loop control input signal u is composed of two parts in view of uncertainty in the steer-by-wire system, namely u = u0 + u1; and sending the closed-loop control input signal u to a steer-by-wire system device to send a voltage instruction to a steering motor, thereby controlling the wheels to turn and obtaining a ideal front wheel rotating angle [delta]'f.

Description

technical field [0001] The invention belongs to the steering-by-wire technology in the field of vehicle engineering, and in particular relates to a control method for a steering-by-wire system based on a sliding mode compensator technology. Background technique [0002] The core of the steer-by-wire system is whether the steering performance remains robust to parameter changes, external disturbances, and changes in road conditions. Although the steering performance of the traditional proportional-derivative control is acceptable, the design of the controller should be a steer-by-wire The steering system achieves good steering performance, especially when road conditions have large uncertainties and unpredictable changes. [0003] For this reason, various efforts have been made, such as entitled "Steering control of motorcycles using steer-by-wire system", Y.Marumo and M.Nagai, Veh.Syst.Dyn.vol.45, no.9, pp. 445–458, 2007. ("Motorcycle steering control method for steer-by-wi...

Claims

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Application Information

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IPC IPC(8): G05B13/04B62D6/00B62D137/00
Inventor 王海史立恒李正浩郁明曹睿哲
Owner HEFEI UNIV OF TECH
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