CN113071558B - Dual-motor intelligent steer-by-wire system and control method thereof - Google Patents

Dual-motor intelligent steer-by-wire system and control method thereof Download PDF

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Publication number
CN113071558B
CN113071558B CN202110301360.5A CN202110301360A CN113071558B CN 113071558 B CN113071558 B CN 113071558B CN 202110301360 A CN202110301360 A CN 202110301360A CN 113071558 B CN113071558 B CN 113071558B
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angle
controller
steering
steering motor
current
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CN113071558A (en
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邹松春
赵万忠
王春燕
张寒
黄云丰
梁为何
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • 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

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)

Abstract

The invention discloses a dual-motor intelligent steer-by-wire system and a control method thereof. According to the control method, the angle synchronous controller and the superspiral second-order sliding mode angle tracking controller based on average deviation coupling control are respectively designed, so that the safety, the tracking performance and the synchronization performance of the dual-motor steer-by-wire system are effectively improved.

Description

Dual-motor intelligent steer-by-wire system and control method thereof
Technical Field
The invention relates to a steer-by-wire system, in particular to a dual-motor intelligent steer-by-wire system and a control method thereof.
Background
The steering system is one of the most critical subsystems of the vehicle and is mainly responsible for controlling the direction in which the vehicle is heading. Steer-by-wire eliminates some of the mechanical connections between the steering wheel and the wheels, allowing the angular transmission ratio between the steering wheel and the wheels to be freely designed. Compared with the traditional mechanical steering, the steer-by-wire can perfectly realize the low-speed flexibility and high-speed stability of the vehicle. However, the conventional steer-by-wire system of the vehicle generally has only one steering motor, and once the steering motor fails, the steering capability of the vehicle is lost, so that serious consequences are caused.
The dual-motor steer-by-wire system adopting the two steering motors can improve the reliability and safety of the steering system from hardware, and once one motor fails, the other motor can normally complete a steering command. However, the dual-motor steer-by-wire system has the characteristics of strong coupling, nonlinearity, multivariable and the like, and the system has serious tracking and synchronization problems.
For the synchronous control of the double motors, master-slave control, parallel control, cross coupling control and the like are mainly adopted. The interference of any one motor in the parallel control can not affect the other motor, and the synchronism is poor. In the master-slave control, the interference on the master motor is transmitted to the slave motor, and vice versa, so that the synchronism is poor. The cross coupling control belongs to the coupling control, the synchronism of the cross coupling control is improved, but after one motor in the system is disturbed, the influence on the other motor is larger.
The tracking control of the motor mainly adopts PI control, neural network control, sliding mode control and the like. PI control is poor in robustness and is not suitable for high-precision control. The neural network control calculation is complex and has poor practicability. The common sliding mode control has the advantages of fast response, good robustness and the like, but has the problem of buffeting, so that the control effect cannot reach the ideal effect.
Disclosure of Invention
The invention aims to solve the technical problem of providing a dual-motor intelligent steer-by-wire system and a control method thereof aiming at the defects involved in the background technology.
The invention adopts the following technical scheme for solving the technical problems:
a dual-motor intelligent steer-by-wire system comprises a steering wheel module, a vehicle speed sensor, a variable transmission ratio module and a steering execution module;
the steering wheel module comprises a steering wheel, a steering column, a steering wheel corner sensor, a road sensing motor and a road sensing motor reducer;
the upper end of the steering column is fixedly connected with a steering wheel;
the output shaft of the road sensing motor is connected with the lower end of the steering column through a road sensing motor reducer and used for transmitting road sensing to a steering wheel through the steering column;
the steering wheel angle sensor is arranged on a steering column and used for acquiring a steering wheel angle signal and transmitting the steering wheel angle signal to the variable transmission ratio module;
the vehicle speed sensor is used for acquiring a vehicle speed signal of a vehicle and transmitting the vehicle speed signal to the variable transmission ratio module;
the variable transmission ratio module is used for calculating a steering motor reference angle signal according to the obtained steering wheel corner signal and the obtained vehicle speed signal and transmitting the steering motor reference angle signal to the steering execution module;
the steering execution module comprises a steering motor A, a speed reducer A, an angle sensor A, a current sensor A, a pinion A, an angle controller A, a current controller A, a steering motor B, a speed reducer B, an angle sensor B, a current sensor B, a pinion B, an angle controller B, a current controller B, a rack and a steering tie rod;
the steering motor A is connected with a rotating shaft of the pinion A through the speed reducer A, the steering motor B is connected with a rotating shaft of the pinion B through the speed reducer B, the types of the steering motor A and the steering motor B are the same, the types of the pinion A and the pinion B are the same, and the types of the speed reducer A and the speed reducer B are the same;
the angle sensor A and the current sensor A are both arranged in the steering motor A and are respectively used for acquiring an angle signal and a current signal of the steering motor A;
the angle sensor B and the current sensor B are both arranged in the steering motor B and are respectively used for acquiring an angle signal and a current signal of the steering motor B;
the angle controller A is used for controlling the angle of the steering motor A, and the current controller A is used for controlling the current of the steering motor A;
the angle controller B is used for controlling the angle of the steering motor B, and the current controller B is used for controlling the current of the steering motor B;
the pinion A and the pinion B are meshed with the rack; the rack is fixed on the steering tie rod; and two ends of the steering tie rod are correspondingly connected with two driving wheels of the automobile respectively.
The invention also discloses a control method of the dual-motor intelligent steer-by-wire system, wherein the angle controller A comprises an angle tracking controller A and an angle synchronous controller A; the angle controller B comprises an angle tracking controller B and an angle synchronous controller B;
let the angle signal of the steering motor A obtained by the angle sensor A be theta1The angle signal of the steering motor B acquired by the angle sensor B is theta2The steering motor reference angle signal calculated by the variable transmission ratio module is thetadThen the angle tracking controller A follows thetadAnd theta1Is controlled according to the difference value of theta1And average angle signal thetamIs controlled by the difference of thetam＝(θ1+θ2)/2；
Let the output current of the angle tracking controller A be IA1The output current of the angle synchronous controller A is IA2According to IA1、IA2Calculating the reference current I of the current controller AA：IA＝IA1+IA2；
The current controller A is based on a reference current IAAnd a current signal i of the steering motor A acquired by the current sensor A1Is controlled to obtain the input voltage U of the steering motor AAThereby driving the steering motor A to rotate;
the angle tracking controller B is according to thetadAnd theta2Is controlled according to the difference value of theta2And average angle signal thetamControlling the difference value of the two values;
let the output current of the angle tracking controller B be IB1The output current of the angle synchronous controller B is IB2According to IB1、IB2Calculating a reference current I of a current controller BB：IB＝IB1+IB2；
The current controller B is based on the reference current IBAnd a current signal i of the steering motor B acquired by the current sensor B2Is controlled to obtain the input voltage U of the steering motor BBThereby driving the steering motor B to rotate.
As a further optimization scheme of the control method of the dual-motor intelligent steer-by-wire system, the angle tracking controller A, the angle synchronous controller A, the angle tracking controller B and the angle synchronous controller B all adopt supercoiled second-order sliding mode controllers, and the current controller A and the current controller B both adopt H∞/H2And a controller.
As a further optimization scheme of the control method of the dual-motor intelligent steer-by-wire system, the angle tracking controller A is established by the following steps:
step 4.1), establishing a dynamic model of the steering motor A:
Figure BDA0002986431290000031
in the formula, T1Is the electromagnetic torque of steering motor a; omega1Is the angular velocity of steering motor A; i.e. i1Is the current of steering motor A; t isL1Is the load torque of steering motor a; ktIs the torque coefficient of the steering motor A; j is the moment of inertia of the steering motor A; b is the viscous friction coefficient of the steering motor A;
step 4.2), solving first-order and second-order differentials of the angle of the steering motor A:
Figure BDA0002986431290000032
the above formula is substituted into the dynamic model of the steering motor a to obtain:
Figure BDA0002986431290000033
step 4.3), taking thetadAnd theta1As a control variable, a control variable e of the angle tracking controller A is defined1,d：
e1,d＝θd-θ1；
Then to e1,dSolving the first order differential to obtain:
Figure BDA0002986431290000034
step 4.4), a sliding mode surface function s of the superspiral second-order sliding mode controller is defined1Comprises the following steps:
Figure BDA0002986431290000035
in the formula, c1Is a constant greater than 0;
for surface function s of sliding mode1Solving the first order differential to obtain:
Figure BDA0002986431290000041
will be provided with
Figure BDA0002986431290000042
Bringing into the above formula yields:
Figure BDA0002986431290000043
step 4.5), defining a global control law u of the superspiral second-order sliding mode angle tracking controller A1,d＝ueq1+ust1Wherein u iseq1As an equivalent control term, ust1Is a superspiral control item;
equivalent control term ueq1By solving for
Figure BDA0002986431290000044
Obtaining:
Figure BDA0002986431290000045
supercoiled control term ust1The expression of (a) is:
Figure BDA0002986431290000046
in the formula, λ1、γ1Constants are all larger than 0, sign is a sign function;
step 4.6), the control output I of the superspiral second-order sliding mode angle tracking controller AA1The expression of (a) is:
Figure BDA0002986431290000047
as a further optimization scheme of the control method of the dual-motor intelligent steer-by-wire system, the angle synchronous controller A is established by the following steps:
step 5.1), defining the angle deviation of the steering motor Ae1,mComprises the following steps:
Figure BDA0002986431290000048
step 5.2), a sliding mode surface function s of the supercoiled second-order sliding mode control is defined2Comprises the following steps:
Figure BDA0002986431290000049
in the formula, c2Is a constant greater than 0;
for surface function s of sliding mode2Solving a first order differential:
Figure BDA00029864312900000410
will thetam＝(θ1+θ2) Is substituted with/2 to obtain
Figure BDA00029864312900000411
Step 5.3), defining a global control law u of the superspiral second-order sliding mode angle synchronous controller A1,m＝ueq2+ust2In the formula:
equivalent control term ueq2By mixing
Figure BDA00029864312900000412
Substitution into
Figure BDA00029864312900000413
And solve for
Figure BDA00029864312900000414
Obtaining:
Figure BDA0002986431290000051
supercoiled control term ust2The expression of (a) is:
Figure BDA0002986431290000052
step 5.4), the control output I of the superspiral second-order sliding mode angle synchronous controller AA2The expression of (a) is:
Figure BDA0002986431290000053
the step of establishing the angle tracking controller B is the same as the step of establishing the angle tracking controller a, and the step of establishing the angle synchronization controller B is the same as the step of establishing the angle synchronization controller a, which are not described herein again.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
firstly, the invention realizes the hardware fault tolerance of the steer-by-wire system and improves the reliability and the safety of the system; secondly, an angle synchronous controller is designed by adopting average deviation coupling synchronous control, so that the synchronous response performance between the double motors is remarkably improved; finally, a superspiral second-order sliding mode angle tracking controller is designed, so that the tracking performance of the motor is improved, and the motor has a wide market application prospect.
Drawings
FIG. 1 is a schematic diagram of the tracking and synchronization of a dual motor intelligent steer-by-wire system of the present invention;
in the figure, thetasw-a steering wheel angle; thetad-reference angles of steering motor a, steering motor B; v-vehicle speed; theta1-steering motor a angle; theta2-steering motor B angle; e.g. of the type1,d-a control variable of the angle tracking controller a; e.g. of the type2,d-a control variable of the angle tracking controller B; e.g. of the type1,m-angular deviation of steering motor a; e.g. of the type2,m-angular deviation of steering motor B; i isACurrent controller a reference current; i isBCurrent controller B reference current; i.e. i1-steering motor a current; i.e. i2-steering motor B current; deltaf-a wheel angle; u shapeA-an input voltage of steering motor a; u shapeB-steeringThe input voltage of motor B; t isL1-load torque of steering motor a; t isL2The load torque of steering motor B.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
Referring to fig. 1, the invention discloses a dual-motor intelligent steer-by-wire system, which comprises a steering wheel module, a vehicle speed sensor, a variable transmission ratio module and a steering execution module;
the steering wheel module comprises a steering wheel, a steering column, a steering wheel corner sensor, a road sensing motor and a road sensing motor reducer;
the upper end of the steering column is fixedly connected with a steering wheel;
the output shaft of the road sensing motor is connected with the lower end of the steering column through a road sensing motor reducer and used for transmitting road sensing to a steering wheel through the steering column;
the steering wheel angle sensor is arranged on a steering column and used for acquiring a steering wheel angle signal and transmitting the steering wheel angle signal to the variable transmission ratio module;
the vehicle speed sensor is used for acquiring a vehicle speed signal of a vehicle and transmitting the vehicle speed signal to the variable transmission ratio module;
the variable transmission ratio module is used for calculating a steering motor reference angle signal according to the obtained steering wheel corner signal and the obtained vehicle speed signal and transmitting the steering motor reference angle signal to the steering execution module;
the steering execution module comprises a steering motor A, a speed reducer A, an angle sensor A, a current sensor A, a pinion A, an angle controller A, a current controller A, a steering motor B, a speed reducer B, an angle sensor B, a current sensor B, a pinion B, an angle controller B, a current controller B, a rack and a steering tie rod;
the steering motor A is connected with a rotating shaft of the pinion A through the speed reducer A, the steering motor B is connected with a rotating shaft of the pinion B through the speed reducer B, the types of the steering motor A and the steering motor B are the same, the types of the pinion A and the pinion B are the same, and the types of the speed reducer A and the speed reducer B are the same;
the angle sensor A and the current sensor A are both arranged in the steering motor A and are respectively used for acquiring an angle signal and a current signal of the steering motor A;
the angle sensor B and the current sensor B are both arranged in the steering motor B and are respectively used for acquiring an angle signal and a current signal of the steering motor B;
the angle controller A is used for controlling the angle of the steering motor A, and the current controller A is used for controlling the current of the steering motor A;
the angle controller B is used for controlling the angle of the steering motor B, and the current controller B is used for controlling the current of the steering motor B;
the pinion A and the pinion B are meshed with the rack; the rack is fixed on the steering tie rod; and two ends of the steering tie rod are correspondingly connected with two driving wheels of the automobile respectively.
The invention also discloses a control method of the dual-motor intelligent steer-by-wire system, wherein the angle controller A comprises an angle tracking controller A and an angle synchronous controller A; the angle controller B comprises an angle tracking controller B and an angle synchronous controller B;
the angle tracking controller A controls according to a steering motor reference angle signal transmitted by the variable transmission ratio module and an angle signal difference value of the steering motor A acquired by the angle sensor A, and the output current of the angle tracking controller A is IA1；
The angle synchronous controller A controls according to the difference value of the angle signal and the average angle signal of the steering motor A acquired by the angle sensor A, and the output current of the angle synchronous controller A is IA2；
The average angle signal thetamAngle signal of steering motor A acquired for angle sensor A and angle sensor B acquisitionThe average value of the angle signal of the steering motor B of (1) is calculated by the formula:
θm＝(θ1+θ2)/2 (1)
in the formula, thetamTo average the angle signal, θ1Angle signal, theta, of steering motor A acquired for angle sensor A2An angle signal of a steering motor B acquired by an angle sensor B;
the current of the angle tracking controller A is IA1The output current of the angle synchronous controller A is IA2Is the reference current I of the current controller AAThe expression is as follows:
IA＝IA1+IA2 (2)
the current controller A is based on a reference current IAAnd a current signal i of the steering motor A acquired by the current sensor A1The difference is controlled and the input voltage U of the steering motor A is obtainedAThereby driving the steering motor A to rotate;
the angle tracking controller B is according to thetadAnd theta2Is controlled according to the difference value of theta2And average angle signal thetamControlling the difference value of the two values;
let the output current of the angle tracking controller B be IB1The output current of the angle synchronous controller B is IB2According to IB1、IB2Calculating a reference current I of a current controller BB：IB＝IB1+IB2；
The current controller B is based on the reference current IBAnd a current signal i of the steering motor B acquired by the current sensor B2Is controlled to obtain the input voltage U of the steering motor BBThereby driving the steering motor B to rotate.
The angle tracking controller A, the angle synchronous controller A, the angle tracking controller B and the angle synchronous controller B are super-spiral second-order sliding mode controllers, and the current controller A and the current controller B are H∞/H2And a controller.
The angle tracking controller A is established by the following steps:
step 4.1), establishing a steering motor A dynamic model:
Figure BDA0002986431290000071
in the formula, T1Is the electromagnetic torque of steering motor a; omega1Is the angular velocity of steering motor A; i.e. i1Is the current of steering motor A; t isL1Is the load torque of steering motor a; ktIs the torque coefficient of the steering motor A; j is the moment of inertia of the steering motor A; and B is the viscous friction coefficient of the steering motor A.
Step 4.2), solving first-order and second-order differentials of the angle of the steering motor A:
Figure BDA0002986431290000081
in the formula, theta1Is the angle of steering motor A;
then, bringing formula (4) into formula (3) gives:
Figure BDA0002986431290000082
step 4.3), the deviation value of the steering motor reference angle and the steering motor A angle is taken as a control variable, and a control variable e of the angle tracking controller A is defined1,dThe expression of (a) is:
e1,d＝θd-θ1 (6)
in the formula, thetadA steering motor reference angle;
the control variable for the angle tracking controller A is then e1,dSolving the first order differential to obtain:
Figure BDA0002986431290000083
step (ii) of4.4) defining a sliding mode surface function s of the supercoiled second-order sliding mode controller1Comprises the following steps:
Figure BDA0002986431290000084
wherein c1 is a constant greater than 0;
for surface function s of sliding mode1Solving the first order differential to obtain:
Figure BDA0002986431290000085
bringing formula (5) into formula (9) can yield:
Figure BDA0002986431290000086
step 4.5), defining a global control law u of the superspiral second-order sliding mode angle tracking controller A1,dComprises the following steps:
u1,d＝ueq1+ust1 (11)
in the formula ueq1As an equivalent control term, ust1Is a superspiral control item;
equivalent control term ueq1Can be obtained by solving
Figure BDA0002986431290000087
Obtaining:
Figure BDA0002986431290000088
supercoiled control term ust1The expression of (a) is:
Figure BDA0002986431290000091
in the formula, λ1、γ1All are constants greater than 0, sign is a sign functionCounting;
step 4.6), the control output I of the superspiral second-order sliding mode angle tracking controller AA1The expression of (a) is:
Figure BDA0002986431290000092
the angle synchronous controller A is established by the following steps:
step 5.1), defining the angle deviation e of the steering motor A1,mComprises the following steps:
Figure BDA0002986431290000093
in the formula, thetamTo average the angle signal, θ1To steer the angle of motor A, θ2Is the angle of steering motor B;
step 5.2), a sliding mode surface function s of the supercoiled second-order sliding mode control is defined2Comprises the following steps:
Figure BDA0002986431290000094
in the formula, c2Is a constant greater than 0;
for surface function s of sliding mode2Solving a first order differential:
Figure BDA0002986431290000095
by substituting formula (15) for formula (17):
Figure BDA0002986431290000096
step 5.3), defining a global control law u of the superspiral second-order sliding mode angle synchronous controller A1,mComprises the following steps:
u1,m＝ueq2+ust2 (19)
substituting equation (5) for equation (18) and solving
Figure BDA0002986431290000097
The available equivalent control term ueq2The expression of (a) is:
Figure BDA0002986431290000098
supercoiled control term ust2The expression of (a) is:
Figure BDA0002986431290000099
step 5.4), the control output I of the superspiral second-order sliding mode angle synchronous controller AA2The expression of (a) is:
Figure BDA0002986431290000101
the step of establishing the angle tracking controller B is the same as the step of establishing the angle tracking controller a, and the step of establishing the angle synchronization controller B is the same as the step of establishing the angle synchronization controller a, which are not described herein again.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (2)

1. A control method of a dual-motor intelligent steer-by-wire system comprises a steering wheel module, a vehicle speed sensor, a variable transmission ratio module and a steering execution module;
the steering wheel module comprises a steering wheel, a steering column, a steering wheel corner sensor, a road sensing motor and a road sensing motor reducer;
the upper end of the steering column is fixedly connected with a steering wheel;
the output shaft of the road sensing motor is connected with the lower end of the steering column through a road sensing motor reducer and used for transmitting road sensing to a steering wheel through the steering column;
the steering wheel angle sensor is arranged on a steering column and used for acquiring a steering wheel angle signal and transmitting the steering wheel angle signal to the variable transmission ratio module;
the vehicle speed sensor is used for acquiring a vehicle speed signal of a vehicle and transmitting the vehicle speed signal to the variable transmission ratio module;
the variable transmission ratio module is used for calculating a steering motor reference angle signal according to the obtained steering wheel corner signal and the obtained vehicle speed signal and transmitting the steering motor reference angle signal to the steering execution module;
the steering execution module comprises a steering motor A, a speed reducer A, an angle sensor A, a current sensor A, a pinion A, an angle controller A, a current controller A, a steering motor B, a speed reducer B, an angle sensor B, a current sensor B, a pinion B, an angle controller B, a current controller B, a rack and a steering tie rod;
the steering motor A is connected with a rotating shaft of the pinion A through the speed reducer A, the steering motor B is connected with a rotating shaft of the pinion B through the speed reducer B, the types of the steering motor A and the steering motor B are the same, the types of the pinion A and the pinion B are the same, and the types of the speed reducer A and the speed reducer B are the same;
the angle sensor A and the current sensor A are both arranged in the steering motor A and are respectively used for acquiring an angle signal and a current signal of the steering motor A;
the angle sensor B and the current sensor B are both arranged in the steering motor B and are respectively used for acquiring an angle signal and a current signal of the steering motor B;
the angle controller A is used for controlling the angle of the steering motor A, and the current controller A is used for controlling the current of the steering motor A;
the angle controller B is used for controlling the angle of the steering motor B, and the current controller B is used for controlling the current of the steering motor B;
the pinion A and the pinion B are meshed with the rack; the rack is fixed on the steering tie rod; two ends of the steering tie rod are correspondingly connected with two driving wheels of the automobile respectively;
the angle controller A comprises an angle tracking controller A and an angle synchronous controller A; the angle controller B comprises an angle tracking controller B and an angle synchronous controller B; the angle tracking controller A, the angle synchronous controller A, the angle tracking controller B and the angle synchronous controller B all adopt super-spiral second-order sliding mode controllers, and the current controller A and the current controller B all adopt H∞/H2A controller;
let the angle signal of the steering motor A obtained by the angle sensor A be theta1The angle signal of the steering motor B acquired by the angle sensor B is theta2The steering motor reference angle signal calculated by the variable transmission ratio module is thetadThen the angle tracking controller A follows thetadAnd theta1Is controlled according to the difference value of theta1And average angle signal thetamIs controlled by the difference of thetam＝(θ1+θ2)/2；
Let the output current of the angle tracking controller A be IA1The output current of the angle synchronous controller A is IA2According to IA1、IA2Calculating the reference current I of the current controller AA：IA＝IA1+IA2；
The current controller A is based on a reference current IASteering motor obtained by current sensor ACurrent signal i of A1Is controlled to obtain the input voltage U of the steering motor AAThereby driving the steering motor A to rotate;
the angle tracking controller B is according to thetadAnd theta2Is controlled according to the difference value of theta2And average angle signal thetamControlling the difference value of the two values;
let the output current of the angle tracking controller B be IB1The output current of the angle synchronous controller B is IB2According to IB1、IB2Calculating a reference current I of a current controller BB：IB＝IB1+IB2；
The current controller B is based on the reference current IBAnd a current signal i of the steering motor B acquired by the current sensor B2Is controlled to obtain the input voltage U of the steering motor BBThereby driving the steering motor B to rotate;
the method for establishing the angle tracking controller A is characterized by comprising the following steps:
step 4.1), establishing a dynamic model of the steering motor A:
Figure FDA0003456685330000021
in the formula, T1Is the electromagnetic torque of steering motor a; omega1Is the angular velocity of steering motor A; i.e. i1Is the current of steering motor A; t isL1Is the load torque of steering motor a; ktIs the torque coefficient of the steering motor A; j is the moment of inertia of the steering motor A; b is the viscous friction coefficient of the steering motor A;
step 4.2), solving first-order and second-order differentials of the angle of the steering motor A:
Figure FDA0003456685330000022
the above formula is introduced into the dynamic model of the steering motor AObtaining:
Figure FDA0003456685330000023
step 4.3), taking thetadAnd theta1As a control variable, a control variable e of the angle tracking controller A is defined1,d：
e1,d＝θd-θ1；
Then to e1,dSolving the first order differential to obtain:
Figure FDA0003456685330000031
step 4.4), a sliding mode surface function s of the superspiral second-order sliding mode controller is defined1Comprises the following steps:
Figure FDA0003456685330000032
in the formula, c1Is a constant greater than 0;
for surface function s of sliding mode1Solving the first order differential to obtain:
Figure FDA0003456685330000033
will be provided with
Figure FDA0003456685330000034
Bringing into the above formula yields:
Figure FDA0003456685330000035
step 4.5), defining a global control law u of the superspiral second-order sliding mode angle tracking controller A1,d＝ueq1+ust1Wherein u iseq1As an equivalent control term, ust1Is a superspiral control item;
equivalent control term ueq1By solving for
Figure FDA0003456685330000036
Obtaining:
Figure FDA0003456685330000037
supercoiled control term ust1The expression of (a) is:
Figure FDA0003456685330000038
in the formula, λ1、γ1Constants are all larger than 0, sign is a sign function;
step 4.6), the control output I of the superspiral second-order sliding mode angle tracking controller AA1The expression of (a) is:
Figure FDA0003456685330000039
2. the control method of the two-motor intelligent steer-by-wire system according to claim 1, wherein the angle synchronization controller a is established by:
step 5.1), defining the angle deviation e of the steering motor A1,mComprises the following steps:
Figure FDA00034566853300000310
step 5.2), a sliding mode surface function s of the supercoiled second-order sliding mode control is defined2Comprises the following steps:
Figure FDA00034566853300000311
in the formula, c2Is a constant greater than 0;
to surface function of sliding modes2Solving a first order differential:
Figure FDA00034566853300000312
will thetam＝(θ1+θ2) Is substituted with/2 to obtain
Figure FDA0003456685330000041
Step 5.3), defining a global control law u of the superspiral second-order sliding mode angle synchronous controller A1,m＝ueq2+ust2In the formula:
equivalent control term ueq2By mixing
Figure FDA0003456685330000042
Substitution into
Figure FDA0003456685330000043
And solve for
Figure FDA0003456685330000044
Obtaining:
Figure FDA0003456685330000045
supercoiled control term ust2The expression of (a) is:
Figure FDA0003456685330000046
step 5.4), the control output I of the superspiral second-order sliding mode angle synchronous controller AA2The expression of (a) is:
Figure FDA0003456685330000047
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