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Steer-by-wire system stability control method

A technology of system stability and steer-by-wire, which is applied in the direction of control devices, can solve the problems of high cost of feedback signal acquisition, insufficient steering stability of steer-by-wire system, etc.

Active Publication Date: 2020-12-04
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0004] Aiming at the deficiencies of the above-mentioned prior art, the object of the present invention is to provide a stability control method for a steer-by-wire system to solve the problems of insufficient steering stability and high cost of obtaining feedback signals in the steer-by-wire system in the prior art

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Embodiment Construction

[0089] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention.

[0090] refer to figure 1 Shown, a kind of steer-by-wire system stability control method of the present invention, the steps are as follows:

[0091] Step 1): Establish a four-wheel steer-by-wire system and a vehicle model;

[0092] Establish four-wheel steer-by-wire system and vehicle model, and estimate four-wheel cornering stiffness, lateral speed and yaw rate:

[0093]

[0094]

[0095] In the formula, v x is the longitudinal vehicle speed; v y is the lateral vehicle speed; γ is the yaw rate; C d is the air resistance coefficient; A is the windward area; ρ is the air density; f s is the coefficient of rolling resistance; m is the mass of the vehicle; g is the acceleration of gr...

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Abstract

The invention discloses a steer-by-wire system stability control method. The method comprises the following steps that a four-wheel steer-by-wire system and a whole vehicle model are established; thefour-wheel cornering stiffness, the lateral vehicle speed and the yaw velocity are estimated by adopting an extended Kalman filter algorithm with limited gain; a sliding mode control algorithm is adopted to design an ideal yaw velocity and ideal lateral vehicle speed tracking controller, and stability control over the steer-by-wire system is completed. According to the method, the tire cornering stiffness of the four-wheel steering system and the relevant feedback state of the vehicle are estimated in real time, a robust tracking control strategy is designed to track the lateral vehicle speedand the yaw velocity of the vehicle, and the stability and the driving safety of the whole vehicle are improved while a driver instruction is responded.

Description

technical field [0001] The invention belongs to the field of steering-by-wire systems for automobiles, and specifically refers to a stability control method for a steering-by-wire system. Background technique [0002] The steering system is one of the key components of the vehicle. It can not only ensure that the car can turn according to the driver's will, but also is closely related to the steering stability of the car. How to reasonably design the steering system to make the car have better maneuverability is always an important topic for designers to study. In today's high-speed vehicles, non-professional drivers, and dense traffic flow, the design of easy-to-maneuverability of cars has become extremely important for more driving groups of different levels. The development of the steer-by-wire system just caters to this objective demand. It is a new generation of steering system developed after the electric power steering system. [0003] Existing steer-by-wire systems...

Claims

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Application Information

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IPC IPC(8): B60W30/045B60W50/00
CPCB60W30/045B60W50/00B60W2050/0019B60W2050/0031B60W2050/0037
Inventor 张寒赵万忠
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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