CN107065542A - Wire-controlled steering system control method based on sliding formwork compensator technology - Google Patents
Wire-controlled steering system control method based on sliding formwork compensator technology Download PDFInfo
- Publication number
- CN107065542A CN107065542A CN201710184463.1A CN201710184463A CN107065542A CN 107065542 A CN107065542 A CN 107065542A CN 201710184463 A CN201710184463 A CN 201710184463A CN 107065542 A CN107065542 A CN 107065542A
- Authority
- CN
- China
- Prior art keywords
- msub
- steering wheel
- angle
- front wheel
- mrow
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
Landscapes
- Engineering & Computer Science (AREA)
- Artificial Intelligence (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of wire-controlled steering system control method based on sliding formwork compensator technology, this method by gathering front wheel angle δ in real timef, steering wheel rotate reference angle θhr, define tracking error εθFor front wheel angle δfReference angle θ is rotated with steering wheelhrDifference, then in conjunction with what is respectively obtained by robust differentiatorIt is given in sliding formwork compensator and nom inalcontroller and calculates as input quantity in the lump, respectively obtains u0And u1, u0It is to be used to handle the probabilistic compensator signal of lump, u1It is nominal control signal.The uncertainty in wire-controlled steering system is considered further that, closed-loop control input signal u is made up of two parts：U=u0+u1, closed-loop control input signal u is sent in wire-controlled steering system equipment sends voltage instruction to steering motor, controls vehicle wheel rotation, obtains preferable front wheel angle δ 'f。
Description
Technical field
The invention belongs to the steering-by-wire technology of Vehicle Engineering, and in particular to a kind of based on sliding formwork compensator technology
Wire-controlled steering system control method.
Background technology
The core of wire-controlled steering system is whether change of the steering behaviour to Parameters variation, external disturbance and road conditions is protected
Hold robustness, although the steering behaviour of traditional proportion-plus-derivative control is acceptable, but the design to controller should be
Wire-controlled steering system realizes good steering behaviour, especially when road conditions have big uncertain and unpredictable change
Change.
Therefore, people are made that various effort, 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. (" the motorcycle rotating direction control method of wire-controlled steering system ", Y.Marumo and M.Nagai,《Vehicular system is moved
Mechanics》, the 9th 445-458 pages of the phase of volume 45 in 2007) article, this article proposes STATE FEEDBACK CONTROL scheme, using linear two
Secondary type technology proposes the steering angle track reference turn signal of the wire-controlled steering system of driving motorcycles carrying, however, this is passed
The shortcoming of system feedback control is that closed-loop system can stablize neighbouring balance, but when there is big uncertain road conditions not
It can guarantee that closed-loop characteristic.
Entitled " Implementation and development of an adaptive steering-control
System ", A.E.Cetin, M.A.Adli and D.E.Barkana, IEEE Trans.Veh.Technol, vol.59,
No.1, pp.75-83,2010. (" realization and exploitation of self-adapting steering control system ", A.E.Cetin, M.A.Adli and
D.E.Barkana.《IEEE journals-vehicle technology periodical》, the 1st 75-83 pages of the phase of volume 59 in 2010) article, this article propose
Adaptive pole Configuration Control Unit is used to reduce tracking error, and still, one is not had in parameter Estimation the problem of actual
There is the influence for considering road conditions to steering behaviour.
To sum up, existing wire-controlled steering system control method there is a problem in that：
1st, PID control is easily understood, and the prerequisites such as accurate system model is not required in use, but exist at signal
Reason is too simple, the problem of control accuracy is not enough；
2nd, H ∞ controls are in terms of control theory, control method and application, by development for many years, it has also become one kind tool
There is the robust control theory of more complete system, but it is limited to there is such as theoretical complicated, computationally intensive and range of parameter perturbation
The problems such as；
Therefore, this area needs one kind to realize to overcome big uncertain and different road travel permit in wire-controlled steering system
Part influences and has the control method of strong robustness, to lift the steering behaviour of vehicle.
The content of the invention
The technical problem to be solved in the present invention is to overcome the tracking performance robustness of controller in the prior art not strong and control
There is provided a kind of wire-controlled steering system controlling party based on sliding formwork compensator technology for low not enough of the tracking error control accuracy of device processed
Method.
The object of the present invention is achieved like this, and the invention provides a kind of steering-by-wire based on sliding formwork compensator technology
System control method, including front wheel angle δfWith steering wheel angle θhReal time signal aquisition, it is characterised in that key step is such as
Under：
Step 1, two servo-drivers of steering are made to operate in torque control model, in real time collection front wheel angle δf
With steering wheel angle θh；
Step 2, the front wheel angle δ according to obtained by step 1fWith steering wheel angle θh, define tracking error εθ=δf-θhr, its
Middle θhrReference angle is rotated for steering wheel,NθIt is steering wheel angle θhWith front wheel angle δfBetween scale factor；
Step 3, front wheel angle δ step 1 collectedfThe angle of front wheel angle observation is obtained by robust differentiator 1
SpeedThe steering wheel that step 2 is obtained rotates reference angle θhrSteering wheel is obtained by robust differentiator 2 and rotates reference angle sight
The angular speed of measured valueSteering wheel is rotated to the angular speed of reference angle observation againSteering wheel is obtained by robust differentiator 3
Rotate the angular acceleration of reference angle observation
Step 4, tracking error ε step 2 obtainedθ, the obtained angular speed of front wheel angle observation of step 3And side
The angular speed of reference angle observation is rotated to diskObtain nominal control signal u1；The tracking error ε that step 2 is obtainedθ, step
The angular speed of 3 obtained front wheel angle observationsThe angular speed of reference angle observation is rotated with steering wheelIt is given to sliding-mode surface
On, obtain sliding variable s；Again by obtained sliding variable s, front wheel angle δfWith the angular speed of front wheel angle observationAs
Input variable is input in sliding formwork compensator, is compensated device signal u0；
Step 5, according to the compensator signal u obtained in step 40With nominal control signal u1, and consider wire-controlled steering system
In uncertainty, if closed-loop control input signal u is made up of two parts, i.e. u=u0+u1；
Step 6, the closed-loop control input signal u in step 5 is sent in wire-controlled steering system equipment to steering motor
Voltage instruction is sent, vehicle wheel rotation is controlled, obtains preferable front wheel angle δ 'f。
Preferably, the Δ T=0.001 seconds sampling period gathered in real time described in step 1.
Preferably, the angular speed of front wheel angle observation is obtained described in step 3 by robust differentiator 1Pass through robust
Differentiator 2 obtains the angular speed that steering wheel rotates reference angle observationGinseng is rotated with steering wheel is obtained by robust differentiator 3
Examine the angular acceleration of angle observation valueThe step of distinguish as follows：
The angular speed of front wheel angle observationExpression formula beIn formula, v is front wheel angle Attitude rate estimator value
Robust differentiator output,v1It is the intermediate variable of robust differentiator 1, v1=∫ (- α1sign
(σf)) dt, t is time of integration variable, σfIt is the sliding variable of robust differentiator 1, σf=x- δf, x is front wheel angle observation, δfIt is
Front wheel angle,α1It is front wheel angle coefficient 1 and is a normal number, ζ1It is front wheel angle
Coefficient 2 and be a normal number；
Steering wheel rotates the angular speed of reference angle observationExpression formula beIn formula, w is that steering wheel rotates ginseng
The robust differentiator output of angle Attitude rate estimator value is examined,w1In robust differentiator 2
Between variable, w1=∫ (- α2sign(σhr)) dt, t is time of integration variable, σhrIt is the sliding variable of robust differentiator 2, σhr=y-
θhr, y is that steering wheel rotates reference angle observation, θhrIt is that steering wheel rotates reference angle,α2It is
Steering wheel rotates with reference to ascent 1 and is a normal number, ζ2It is that steering wheel is rotated with reference to ascent 2 and be a normal number；
Steering wheel rotates the angular acceleration of reference angle observationExpression formula beIn formula, q is that steering wheel is rotated
The robust differentiator output of reference angle angular acceleration estimate,q1It is robust differentiator 3
Intermediate variable,T is time of integration variable,It is the sliding variable of robust differentiator 3, It is the angular speed that steering wheel rotates reference angle observation,It is that steering wheel rotates reference angle angular speed,α3It is that steering wheel rotates reference angle angular speed coefficient 1 and is a normal number, ζ3It is direction
Disk rotates reference angle angular speed coefficient 2 and is a normal number.
Preferably, described nominal control signal u1Expression formula be：
In formula, τfa0For system disturbance nominal value 1,Wherein,
Fs0It is the nominal value of Coulomb friction constant,It is the angular speed of front wheel angle observation, kr0It is the nominal value of steering gear ratio；
τea0It is the outer tire aligning torque on moist asphalt road,Wherein τe0It is the nominal of aligning torque
Value, τdis0For system disturbance nominal value 2；
εθIt is tracking error,It is the first differential value of tracking error observation,Wherein,It is front-wheel
The angular speed of corner observation,It is the angular speed that steering wheel rotates reference angle observation；
a0For wire-controlled steering system parametric nominal value 1,Wherein, Jeq0It is the nominal value of total inertia coeffeicent, kr0
It is the nominal value of steering gear ratio；
b0For wire-controlled steering system parametric nominal value 2,Wherein, Beq0It is the nominal value of total damping coefficient, kr0
It is the nominal value of steering gear ratio；k1For control gain 1, k2For control gain 2.
Preferably, in the sliding-mode surface, sliding variable s is defined as：
In formula, Λ is sliding formwork parameter and it is a positive number, εθIt is tracking error,It is the single order of tracking error observation
Differential value, wherein,
Preferably, described compensator signal u0Expression formula be：
In formula,
a0For wire-controlled steering system parametric nominal value 1,Wherein Jeq0It is the nominal value of total inertia coeffeicent, kr0It is
The nominal value of steering gear ratio；
b0For wire-controlled steering system parametric nominal value 2,Wherein Beq0It is the nominal value of total damping coefficient, kr0It is
The nominal value of steering gear ratio, k1For control gain 1, k2For control gain 2；
Λ is sliding formwork parameter and is a positive number, εθIt is tracking error,It is the first differential value of tracking error observation,
Wherein, It is the angular speed of front wheel angle observation,It is the angle speed that steering wheel rotates reference angle observation
Degree；
q1It is sliding formwork compensator coefficient 1, q2It is sliding formwork compensator coefficient 2；
Saturation function sat (s) definition is：δ represents sliding formwork boundary layer thickness and δ>
0, s is sliding variable, while sliding variable s is using δ as border,
For the upper bound of lump uncertainty 2,For the upper bound of lump uncertainty 1,In formula,Wherein, c0It is the lump coefficient of uncertainty 1 of sliding formwork compensator and is a normal number, c1For
The lump coefficient of uncertainty 2 of sliding formwork compensator and be a normal number, c2For the lump coefficient of uncertainty 3 of sliding formwork compensator
And be a normal number, δfIt is front wheel angle,It is the angular speed of front wheel angle observation；
It is the upper bound for the angular acceleration that steering wheel rotates reference angle observation,Wherein,
γ0It is steering wheel model coefficient 1 and is a normal number, γ1It is steering wheel model coefficient 2 and is a normal number, γ2The side of being
To disk model coefficient 3 and be a normal number, θhrIt is that steering wheel rotates reference angle,It is that steering wheel rotates reference angle observation
Angular speed.
Wire-controlled steering system control method disclosed by the invention based on sliding formwork compensator technology, has very much not true in system
Under the influence of qualitative factor and different road conditions, the property that the close tracking direction disk of front wheel angle rotates reference angle is realized
Can, with strong robustness and stability, its advantage is embodied in：
1. the wire-controlled steering system control method based on sliding formwork compensator technology proposed is in terms of steering behaviour is provided
Better than traditional boundary layer sliding mode controller, H∞Controller, in the big uncertain and different road conditions of the system of reply
Keep small tracking error and strong robustness.
2. sliding mode is unrelated with image parameter and disturbance, quick response, to Parameters variation and disturb it is insensitive, without being
System on-line identification, physics realization is simple.
3. the vehicle of saturation function sliding formwork control first reaches stable state than sign function sliding formwork control vehicle, more stablize, no
Chatter phenomenon can be produced.
Brief description of the drawings
Fig. 1 is the wire-controlled steering system control structure figure of the present invention.
Fig. 2 is the tracking performance curve map of control method of the present invention.
Fig. 3 is the tracking error curve figure of control method of the present invention.
Fig. 4 is the control torque curve of control method of the present invention.
Embodiment
Clear, complete description is carried out to technical scheme below in conjunction with accompanying drawing.Obviously described implementation
Example is only a part for the embodiment of the present invention, and based on embodiments of the invention, those skilled in the art is not making creation
Property work on the premise of the other embodiments that obtain, belong to the protection domain of this patent.
The embodiment provides a kind of wire-controlled steering system control method based on sliding formwork compensator technology, to solve
The problem of certainly tracking error present in prior art is big, robustness is not strong and there is flutter.
Referring to Fig. 1, based on the wire-controlled steering system control method of sliding formwork compensator technology, it includes front wheel angle δfAnd side
To disk rotational angle thetahReal time signal aquisition, it is characterised in that key step is as follows：
Step 1, two servo-drivers of steering are made to operate in torque control model, in real time collection front wheel angle δf
With steering wheel angle θh.The Δ T=0.001 seconds sampling period of described real-time collection.
Step 2, the front wheel angle δ according to obtained by step 1fWith steering wheel angle θh, define tracking error εθ=δf-θhr, its
Middle θhrReference angle is rotated for steering wheel,NθIt is steering wheel angle θhWith front wheel angle δfBetween scale factor.
In the present embodiment, N is takenθ=12.
Step 3, front wheel angle δ step 1 collectedfThe angle of front wheel angle observation is obtained by robust differentiator 1
SpeedThe steering wheel that step 2 is obtained rotates reference angle θhrSteering wheel rotation is obtained by robust differentiator 2 and refers to angle observation
The angular speed of valueSteering wheel is rotated to the angular speed of reference angle observation againSteering wheel is obtained by robust differentiator 3 to turn
The angular acceleration of dynamic reference angle observation
(1) angular speed of front wheel angle observation is obtained by robust differentiator 1
In formula, v is the robust differentiator output of front wheel angle Attitude rate estimator value,v1It is
The intermediate variable of robust differentiator 1, v1=∫ (- α1sign(σf)) dt, t is time of integration variable, σfIt is the sliding formwork of robust differentiator 1
Variable, σf=x- δf, x is front wheel angle observation, δfIt is front wheel angle,α1It is preceding rotation
Ascent 1 and be a normal number, ζ1It is front wheel angle coefficient 2 and is a normal number.In the present embodiment, α is taken1=11, ζ1
=4.
(2) angular speed that steering wheel rotates reference angle observation is obtained by robust differentiator 2
In formula, w is the robust differentiator output that steering wheel rotates reference angle Attitude rate estimator value,w1It is the intermediate variable of robust differentiator 2, w1=∫ (- α2sign(σhr)) dt, t is integration
Time variable, σhrIt is the sliding variable of robust differentiator 2, σhr=y- θhr, y is that steering wheel rotates reference angle observation, θhrIt is direction
Disk rotates reference angle,α2It is that steering wheel is rotated with reference to ascent 1 and be a normal number,
ζ2It is that steering wheel is rotated with reference to ascent 2 and be a normal number.In the present embodiment, α is taken2=90, ζ2=9；
(3) angular acceleration that steering wheel rotates reference angle observation is obtained by robust differentiator 3
In formula, q is the robust differentiator output that steering wheel rotates reference angle angular acceleration estimate,q1It is the intermediate variable of robust differentiator 3,T is integration
Time variable,It is the sliding variable of robust differentiator 3, It is the angle that steering wheel rotates reference angle observation
Speed,It is that steering wheel rotates reference angle angular speed,α3It is that steering wheel rotates reference angle
Angular speed coefficient 1 and be normal number, ζ3It is that steering wheel rotates reference angle angular speed coefficient 2 and is a normal number.In this implementation
In example, α is taken3=90, ζ3=9.
Step 4, tracking error ε step 2 obtainedθ, the obtained angular speed of front wheel angle observation of step 3And side
The angular speed of reference angle observation is rotated to diskObtain nominal control signal u1；The tracking error ε that step 2 is obtainedθ, step
The angular speed of 3 obtained front wheel angle observationsThe angular speed of reference angle observation is rotated with steering wheelIt is given to sliding-mode surface
On, obtain sliding variable s；Again by obtained sliding variable s, front wheel angle δfWith the angular speed of front wheel angle observationAs
Input variable is input in sliding formwork compensator, is compensated device signal u0。
(1) nominal control signal u is sought1。
In formula,
τfa0For system disturbance nominal value 1,Wherein,
Fs0It is the nominal value of Coulomb friction constant,It is the angular speed of front wheel angle observation, kr0It is the nominal value of steering gear ratio.
In the present embodiment, the selection of parameter mainly considers to keep wire-controlled steering system strong robustness and stability, takes Fs0=3.04Nm,
kr0=18.
τea0It is the outer tire aligning torque on moist asphalt road,Wherein τe0It is the nominal of aligning torque
Value, τdis0For system disturbance nominal value 2；
εθIt is tracking error,It is the first differential value of tracking error observation,Wherein,It is preceding rotation
The angular speed of angle observation value,It is the angular speed that steering wheel rotates reference angle observation；
a0For wire-controlled steering system parametric nominal value 1,Wherein, Jeq0It is the nominal value of total inertia coeffeicent, kr0
It is the nominal value of steering gear ratio；
b0For wire-controlled steering system parametric nominal value 2,Wherein, Beq0It is the nominal value of total damping coefficient, kr0
It is the nominal value of steering gear ratio, k1For control gain 1, k2For control gain 2.
In the present embodiment, the selection of parameter mainly considers to keep wire-controlled steering system strong robustness and stability, takes a0
=0.064, b0=0.16, kr0=18, k1=-80, k2=-15.5, kr0=18.
(2) sliding variable s is sought
Sliding variable s is defined as：
In formula, Λ is sliding formwork parameter and it is a positive number, εθIt is tracking error,It is the single order of tracking error observation
Differential value, wherein,In the present embodiment, Λ=12 are taken.
(3) compensator signal u is sought0。
In formula,
a0For wire-controlled steering system parametric nominal value 1,Wherein Jeq0It is the nominal value of total inertia coeffeicent, kr0It is
The nominal value of steering gear ratio.In the present embodiment, a is taken0=0.064, kr0=18；
b0For wire-controlled steering system parametric nominal value 2,Wherein Beq0It is the nominal value of total damping coefficient, kr0It is
The nominal value of steering gear ratio, k1For control gain 1, k2For control gain 2.In the present embodiment, b is taken0=0.16, k1=-
80, k2=-15.5, kr0=18；
Λ is sliding formwork parameter and is a positive number, εθIt is tracking error,It is the first differential value of tracking error observation,
Wherein, It is the angular speed of front wheel angle observation,It is the angle speed that steering wheel rotates reference angle observation
Degree.In the present embodiment, Λ=12 are taken；
q1It is sliding formwork compensator coefficient 1, q2It is sliding formwork compensator coefficient 2.In the present embodiment, q is taken1=6, q2=0.01；
Saturation function sat (s) definition is：δ represents sliding formwork boundary layer thickness and δ>
0, s is sliding variable, while sliding variable s is using δ as border,In the present embodiment, sliding formwork is taken
Boundary layer thickness δ=0.1；
For the upper bound of lump uncertainty 2,For the upper bound of lump uncertainty 1In formula,Wherein, c0It is the lump coefficient of uncertainty 1 of sliding formwork compensator and is a normal number, c1
Lump coefficient of uncertainty 2 for sliding formwork compensator and be a normal number, c2For the lump uncertainty system of sliding formwork compensator
Number 3 and be a normal number, δfIt is front wheel angle,It is the angular speed of front wheel angle observation.In the present embodiment, c is taken0=
1.0, c1=0.3, c2=0.1；
It is the upper bound for the angular acceleration that steering wheel rotates reference angle observation,Its
In, γ0It is steering wheel model coefficient 1 and is a normal number, γ1It is steering wheel model coefficient 2 and is a normal number, γ2It is
Steering wheel model coefficient 3 and be a normal number, θhrIt is that steering wheel rotates reference angle,It is that steering wheel rotation refers to angle observation
The angular speed of value.In the present embodiment, γ is taken0=6, γ1=2.8, γ2=2.2.
Step 5, according to the compensator signal u obtained in step 40With nominal control signal u1, and consider wire-controlled steering system
In uncertainty, if closed-loop control input signal u is made up of two parts, i.e. u=u0+u1。
Step 6, the closed-loop control input signal u in step 5 is sent in wire-controlled steering system equipment to steering motor
Voltage instruction is sent, vehicle wheel rotation is controlled, obtains preferable front wheel angle δ 'f。
Fig. 2 is the tracking performance curve map of control method of the present invention, and Fig. 3 is the tracking error curve of control method of the present invention
Figure, Fig. 4 is the control torque curve of control method of the present invention.To verify the implementation result of the present invention, in wire-controlled steering system
Control effect figure as depicted is obtained in experiment porch, before can be seen that the control method of the present invention can cause from three figures
The close tracking direction disk of wheel corner, which is rotated, refers to angle, reduces tracking error, enhances robustness, improves chatter phenomenon.
Construction, feature and the action effect of the present invention is described in detail according to the embodiment shown in schema above, described in it
Only presently preferred embodiments of the present invention, but the present invention is not to limit practical range shown in drawing, it is every according to conception of the invention
The change made, or the equivalent embodiment of equivalent variations is revised as, still without departing from specification with illustrating during covered spirit,
Should be within the scope of the present invention.
Claims (6)
1. a kind of wire-controlled steering system control method based on sliding formwork compensator technology, including front wheel angle δfAnd steering wheel angle
θhReal time signal aquisition, it is characterised in that key step is as follows：
Step 1, two servo-drivers of steering are made to operate in torque control model, in real time collection front wheel angle δfAnd side
To disk rotational angle thetah；
Step 2, the front wheel angle δ according to obtained by step 1fWith steering wheel angle θh, define tracking error εθ=δf-θhr, wherein θhr
Reference angle is rotated for steering wheel,NθIt is steering wheel angle θhWith front wheel angle δfBetween scale factor；
Step 3, front wheel angle δ step 1 collectedfThe angular speed of front wheel angle observation is obtained by robust differentiator 1The steering wheel that step 2 is obtained rotates reference angle θhrSteering wheel is obtained by robust differentiator 2 and rotates reference angle observation
Angular speedSteering wheel is rotated to the angular speed of reference angle observation againSteering wheel is obtained by robust differentiator 3 to rotate
The angular acceleration of reference angle observation
Step 4, tracking error ε step 2 obtainedθ, the obtained angular speed of front wheel angle observation of step 3And steering wheel
Rotate the angular speed of reference angle observationObtain nominal control signal u1；The tracking error ε that step 2 is obtainedθ, step 3
The angular speed of the front wheel angle observation arrivedThe angular speed of reference angle observation is rotated with steering wheelIt is given on sliding-mode surface,
Obtain sliding variable s；Again by obtained sliding variable s, front wheel angle δfWith the angular speed of front wheel angle observationAs defeated
Enter variable to be input in sliding formwork compensator, be compensated device signal u0；
Step 5, according to the compensator signal u obtained in step 40With nominal control signal u1, and consider in wire-controlled steering system
Uncertainty, if closed-loop control input signal u is made up of two parts, i.e. u=u0+u1；
Step 6, the closed-loop control input signal u in step 5 is sent in wire-controlled steering system equipment and sent to steering motor
Voltage instruction, controls vehicle wheel rotation, obtains preferable front wheel angle δ 'f。
2. a kind of wire-controlled steering system control method based on sliding formwork compensator technology according to claim 1, its feature
It is, the Δ T=0.001 seconds sampling period of real time signal aquisition described in step 1.
3. a kind of wire-controlled steering system control method based on sliding formwork compensator technology according to claim 1, its feature
It is, obtains the angular speed of front wheel angle observation described in step 3 by robust differentiator 1Obtained by robust differentiator 2
Steering wheel rotates the angular speed of reference angle observationReference angle observation is rotated with steering wheel is obtained by robust differentiator 3
Angular accelerationThe step of distinguish as follows：
The angular speed of front wheel angle observationExpression formula beIn formula, v is the robust of front wheel angle Attitude rate estimator value
Differentiator is exported,v1It is the intermediate variable of robust differentiator 1,t
It is time of integration variable, σfIt is the sliding variable of robust differentiator 1, σf=x- δf, x is front wheel angle observation, δfIt is preceding rotation
Angle,α1It is front wheel angle coefficient 1 and is a normal number, ζ1Be front wheel angle coefficient 2 and
It is a normal number；
Steering wheel rotates the angular speed of reference angle observationExpression formula beIn formula, w is that steering wheel rotates reference angle
The robust differentiator output of Attitude rate estimator value,w1It is the middle anaplasia of robust differentiator 2
Amount, w1=∫ (- α2sign(σhr)) dt, t is time of integration variable, σhrIt is the sliding variable of robust differentiator 2, σhr=y- θhr, y is
Steering wheel rotates reference angle observation, θhrIt is that steering wheel rotates reference angle,α2It is direction
Disk rotates with reference to ascent 1 and is a normal number, ζ2It is that steering wheel is rotated with reference to ascent 2 and be a normal number；
Steering wheel rotates the angular acceleration of reference angle observationExpression formula beIn formula, q is that steering wheel rotates reference
The robust differentiator output of angle angular acceleration estimate,q1It is the centre of robust differentiator 3
Variable,T is time of integration variable,It is the sliding variable of robust differentiator 3, It is the angular speed that steering wheel rotates reference angle observation,It is that steering wheel rotates reference angle angular speed,α3It is that steering wheel rotates reference angle angular speed coefficient 1 and is a normal number, ζ3The side of being
Reference angle angular speed coefficient 2 is rotated to disk and be a normal number.
4. a kind of wire-controlled steering system control method based on sliding formwork compensator technology according to claim 1, its feature
It is, described nominal control signal u1Expression formula be：
<mrow>
<msub>
<mi>u</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<msub>
<mi>&tau;</mi>
<mrow>
<mi>f</mi>
<mi>a</mi>
<mn>0</mn>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>&tau;</mi>
<mrow>
<mi>e</mi>
<mi>a</mi>
<mn>0</mn>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>&tau;</mi>
<mrow>
<mi>d</mi>
<mi>i</mi>
<mi>s</mi>
<mn>0</mn>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>a</mi>
<mn>0</mn>
</msub>
<mrow>
<mo>(</mo>
<msub>
<mi>k</mi>
<mn>1</mn>
</msub>
<msub>
<mi>&epsiv;</mi>
<mi>&theta;</mi>
</msub>
<mo>+</mo>
<msub>
<mi>k</mi>
<mn>2</mn>
</msub>
<msub>
<mover>
<mover>
<mi>&epsiv;</mi>
<mo>^</mo>
</mover>
<mo>&CenterDot;</mo>
</mover>
<mi>&theta;</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>0</mn>
</msub>
<msub>
<mover>
<mover>
<mi>&theta;</mi>
<mo>^</mo>
</mover>
<mo>&CenterDot;</mo>
</mover>
<mrow>
<mi>h</mi>
<mi>r</mi>
</mrow>
</msub>
</mrow>
In formula, τfa0For system disturbance nominal value 1,Wherein,Fs0
It is the nominal value of Coulomb friction constant,It is the angular speed of front wheel angle observation, kr0It is the nominal value of steering gear ratio；
τea0It is the outer tire aligning torque on moist asphalt road,Wherein τe0It is the nominal value of aligning torque,
τdis0For system disturbance nominal value 2；
εθIt is tracking error,It is the first differential value of tracking error observation,Wherein,It is front wheel angle
The angular speed of observation,It is the angular speed that steering wheel rotates reference angle observation；
a0For wire-controlled steering system parametric nominal value 1,Wherein, Jeq0It is the nominal value of total inertia coeffeicent, kr0It is to turn to
The nominal value of gearratio；
b0For wire-controlled steering system parametric nominal value 2,Wherein, Beq0It is the nominal value of total damping coefficient, kr0It is to turn
To the nominal value of gearratio；k1For control gain 1, k2For control gain 2.
5. a kind of wire-controlled steering system control method based on sliding formwork compensator technology according to claim 1, its feature
It is, in the sliding-mode surface, sliding variable s is defined as：
<mrow>
<mi>s</mi>
<mo>=</mo>
<msub>
<mover>
<mover>
<mi>&epsiv;</mi>
<mo>^</mo>
</mover>
<mo>&CenterDot;</mo>
</mover>
<mi>&theta;</mi>
</msub>
<mo>+</mo>
<msub>
<mi>&Lambda;&epsiv;</mi>
<mi>&theta;</mi>
</msub>
</mrow>
In formula, Λ is sliding formwork parameter and it is a positive number, εθIt is tracking error,It is the first differential of tracking error observation
Value, wherein,
6. a kind of wire-controlled steering system control method based on sliding formwork compensator technology according to claim 1, its feature
It is, described compensator signal u0Expression formula be：
<mrow>
<msub>
<mi>u</mi>
<mn>0</mn>
</msub>
<mo>=</mo>
<mo>-</mo>
<msub>
<mi>a</mi>
<mn>0</mn>
</msub>
<mi>s</mi>
<mi>a</mi>
<mi>t</mi>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mrow>
<mo>(</mo>
<msub>
<mover>
<mi>&rho;</mi>
<mo>&OverBar;</mo>
</mover>
<mn>2</mn>
</msub>
<mo>+</mo>
<mo>|</mo>
<msub>
<mi>k</mi>
<mn>1</mn>
</msub>
<mo>|</mo>
<mo>|</mo>
<msub>
<mi>&epsiv;</mi>
<mi>&theta;</mi>
</msub>
<mo>|</mo>
<mo>+</mo>
<mo>|</mo>
<mrow>
<mi>&Lambda;</mi>
<mo>-</mo>
<mfrac>
<msub>
<mi>b</mi>
<mn>0</mn>
</msub>
<msub>
<mi>a</mi>
<mn>0</mn>
</msub>
</mfrac>
<mo>+</mo>
<msub>
<mi>k</mi>
<mn>2</mn>
</msub>
</mrow>
<mo>|</mo>
<mo>|</mo>
<msub>
<mover>
<mover>
<mi>&epsiv;</mi>
<mo>^</mo>
</mover>
<mo>&CenterDot;</mo>
</mover>
<mi>&theta;</mi>
</msub>
<mo>|</mo>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msub>
<mi>q</mi>
<mn>1</mn>
</msub>
<mi>s</mi>
<mo>-</mo>
<msub>
<mi>q</mi>
<mn>2</mn>
</msub>
<mi>s</mi>
<mi>a</mi>
<mi>t</mi>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
</mrow>
In formula,
a0For wire-controlled steering system parametric nominal value 1,Wherein Jeq0It is the nominal value of total inertia coeffeicent, kr0It is to turn to
The nominal value of gearratio；
b0For wire-controlled steering system parametric nominal value 2,Wherein Beq0It is the nominal value of total damping coefficient, kr0It is to turn to
The nominal value of gearratio, k1For control gain 1, k2For control gain 2；
Λ is sliding formwork parameter and is a positive number, εθIt is tracking error,It is the first differential value of tracking error observation, wherein, It is the angular speed of front wheel angle observation,It is the angular speed that steering wheel rotates reference angle observation；
q1It is sliding formwork compensator coefficient 1, q2It is sliding formwork compensator coefficient 2；
Saturation function sat (s) definition is：δ represents sliding formwork boundary layer thickness and δ>0, s
For sliding variable, while sliding variable s is using δ as border,
For the upper bound of lump uncertainty 2,For the upper bound of lump uncertainty 1,In formula,Wherein, c0It is the lump coefficient of uncertainty 1 of sliding formwork compensator and is a normal number, c1
Lump coefficient of uncertainty 2 for sliding formwork compensator and be a normal number, c2For the lump uncertainty system of sliding formwork compensator
Number 3 and be a normal number, δfIt is front wheel angle,It is the angular speed of front wheel angle observation；
It is the upper bound for the angular acceleration that steering wheel rotates reference angle observation,Wherein, γ0
It is steering wheel model coefficient 1 and is a normal number, γ1It is steering wheel model coefficient 2 and is a normal number, γ2It is steering wheel
Model coefficient 3 and be a normal number, θhrIt is that steering wheel rotates reference angle,It is the angle that steering wheel rotates reference angle observation
Speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710184463.1A CN107065542A (en) | 2017-03-24 | 2017-03-24 | Wire-controlled steering system control method based on sliding formwork compensator technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710184463.1A CN107065542A (en) | 2017-03-24 | 2017-03-24 | Wire-controlled steering system control method based on sliding formwork compensator technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107065542A true CN107065542A (en) | 2017-08-18 |
Family
ID=59618068
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710184463.1A Withdrawn CN107065542A (en) | 2017-03-24 | 2017-03-24 | Wire-controlled steering system control method based on sliding formwork compensator technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107065542A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108749915A (en) * | 2018-06-08 | 2018-11-06 | 扬州大学 | A kind of electric power-assisted steering apparatus design method based on sliding mode observer |
| CN110576901A (en) * | 2018-06-08 | 2019-12-17 | 通用汽车环球科技运作有限责任公司 | performance active and adaptive steering response and real-time road feel for steer-by-wire vehicles |
| CN115626217A (en) * | 2022-12-19 | 2023-01-20 | 安徽大学 | Tracking control method of wire-controlled steering system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104270054A (en) * | 2014-10-24 | 2015-01-07 | 哈尔滨工业大学 | Anti-rest Windup smooth nonsingular terminal sliding mode control method for permanent magnet synchronous motor based on relative order |
| CN104898431A (en) * | 2015-06-10 | 2015-09-09 | 北京理工大学 | Reentry aircraft finite time control method based on disturbance observer |
| CN104950898A (en) * | 2015-06-10 | 2015-09-30 | 北京理工大学 | Reentry vehicle full-order non-singular terminal sliding mode posture control method |
| CN106406086A (en) * | 2016-05-26 | 2017-02-15 | 北京航空航天大学 | Large flexible spacecraft interference compensation method based on sliding mode disturbance observer |
-
2017
- 2017-03-24 CN CN201710184463.1A patent/CN107065542A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104270054A (en) * | 2014-10-24 | 2015-01-07 | 哈尔滨工业大学 | Anti-rest Windup smooth nonsingular terminal sliding mode control method for permanent magnet synchronous motor based on relative order |
| CN104898431A (en) * | 2015-06-10 | 2015-09-09 | 北京理工大学 | Reentry aircraft finite time control method based on disturbance observer |
| CN104950898A (en) * | 2015-06-10 | 2015-09-30 | 北京理工大学 | Reentry vehicle full-order non-singular terminal sliding mode posture control method |
| CN106406086A (en) * | 2016-05-26 | 2017-02-15 | 北京航空航天大学 | Large flexible spacecraft interference compensation method based on sliding mode disturbance observer |
Non-Patent Citations (4)
| Title |
|---|
| HAI WANG 等: "Robust Control for Steer-by-Wire Systems With Partially Known Dynamics", 《IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS》 * |
| 孔慧芳 等: "汽车线控转向***的模糊滑模控制研究", 《自动化仪表》 * |
| 孙宜标 等: "采用鲁棒微分器的永磁直线同步电机二阶滑模控制", 《中国电机工程学报》 * |
| 王艳敏 等: "多输入不确定***的平滑非奇异终端滑模控制", 《控制与决策》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108749915A (en) * | 2018-06-08 | 2018-11-06 | 扬州大学 | A kind of electric power-assisted steering apparatus design method based on sliding mode observer |
| CN110576901A (en) * | 2018-06-08 | 2019-12-17 | 通用汽车环球科技运作有限责任公司 | performance active and adaptive steering response and real-time road feel for steer-by-wire vehicles |
| CN110576901B (en) * | 2018-06-08 | 2021-09-07 | 通用汽车环球科技运作有限责任公司 | Performance active and adaptive steering response and real-time road feel for steer-by-wire vehicles |
| CN115626217A (en) * | 2022-12-19 | 2023-01-20 | 安徽大学 | Tracking control method of wire-controlled steering system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Kapania et al. | Path tracking of highly dynamic autonomous vehicle trajectories via iterative learning control | |
| CN105116934B (en) | A dual-frame MSCMG frame system high-precision control method based on self-adaptive sliding mode compensation | |
| CN110901647B (en) | Vehicle road surface adhesion coefficient self-adaptive estimation method considering complex excitation condition | |
| CN102636995B (en) | Method for controlling micro gyro based on radial basis function (RBF) neural network sliding mode | |
| CN106828464A (en) | A kind of vehicle body stable control method and system based on coefficient of road adhesion estimation | |
| CN108725585A (en) | The Trajectory Tracking Control method and device of vehicle autonomous parking | |
| CN104811588B (en) | A kind of boat-carrying based on gyroscope is surely as control method | |
| CN107065542A (en) | Wire-controlled steering system control method based on sliding formwork compensator technology | |
| Anderson et al. | Using GPS with a model-based estimator to estimate critical vehicle states | |
| CN107491081A (en) | A kind of anti-interference four rotor wing unmanned aerial vehicles attitude control method | |
| CN106597017A (en) | UAV angular acceleration estimation method and apparatus based on extended Kalman filtering | |
| CN107600176B (en) | A kind of intelligent vehicle active steering control method based on extension control theory | |
| CN105159083A (en) | High-precision friction compensation control method of double-frame magnetic levitation CMG frame system | |
| CN104590253B (en) | A kind of yaw velocity control method of four motorized wheels electric automobile | |
| CN113806861B (en) | Method for estimating vehicle mass and road gradient of two-step structure | |
| CN107272707B (en) | IPV 6-based automatic unmanned vehicle track fuzzy PID following control method | |
| Huang et al. | Calculation algorithm of tire‐road friction coefficient based on limited‐memory adaptive extended Kalman filter | |
| CN107390517A (en) | Robust adaptive non-singular terminal sliding-mode control for train ATO systems | |
| Liu et al. | A hierarchical anti-disturbance path tracking control scheme for autonomous vehicles under complex driving conditions | |
| CN104614993B (en) | Adaptive sliding mode preset performance control method for micro-gyroscope | |
| Xia et al. | Automated vehicle attitude and lateral velocity estimation using a 6-D IMU aided by vehicle dynamics | |
| CN105676674B (en) | Unmanned plane front-wheel steer control method based on instruction wave filter | |
| Choi et al. | Human driver model and sliding mode control-road tracking capability of the vehicle model | |
| CN107284519A (en) | Automobile steering-by-wire control method based on adaptive terminal sliding formwork control | |
| CN103472725B (en) | The full control method regulating of a kind of neutral net based on nominal controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170818 |