线控转向系统的前轮转角跟踪策略研究

doi:10.3901/JME.2019.22.165

机械工程学报 ›› 2019, Vol. 55 ›› Issue (22): 165-173.doi: 10.3901/JME.2019.22.165

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线控转向系统的前轮转角跟踪策略研究

罗建南¹, 朱光钰², 杨浩瀚², 喻凡², 陈俐³

1. 香港理工大学机械工程学系香港 999077;
2. 上海交通大学机械系统与振动国家重点实验室上海 200240;
3. 上海交通大学海洋工程国家重点实验室上海 200240

收稿日期:2019-09-14 修回日期:2019-11-09 出版日期:2019-11-20 发布日期:2020-02-29
通讯作者: 陈俐(通信作者),女,1973年出生,博士,副教授,博士研究生导师。主要研究方向为车辆控制系统、系统建模与分析。E-mail:li.h.chen@sjtu.edu.cn
作者简介:罗建南,男,1990年出生,博士。主要研究方向为机械系统动力学及控制。E-mail:jiannan.luo@polyu.edu.hk;朱光钰,男,1995年出生,硕士研究生。主要研究方向为车辆系统动力学及其控制。E-mail:zhuguangyu0314@sjtu.edu.cn;杨浩瀚,男,1996年出生,硕士研究生。主要研究方向为车辆系统动力学及其控制。E-mail:yhh_STM05@sjtu.edu.cn;喻凡,女,1961年出生,博士,教授,博士研究生导师。主要研究方向为汽车系统动力学、车辆底盘控制系统。E-mail:fanyu@sjtu.edu.cn
基金资助:
国家自然科学基金（51875340）和上海汽车工业科技发展基金（199611005）资助项目。

Study on Front Wheel Angle Tracking Strategy of Steering-by-wire System

LUO Jiannan¹, ZHU Guangyu², YANG Haohan², YU Fan², CHEN Li³

1. Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hongkong 999077;
2. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240;
3. State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240

Received:2019-09-14 Revised:2019-11-09 Online:2019-11-20 Published:2020-02-29

摘要/Abstract

摘要： 研究通过对线控转向系统进行主动控制，可靠并准确地得到期望的前轮转角。基于建立的线控转向系统数学模型，使用非线性自回归模型确定其系统参数，设计内模控制器跟踪车辆的期望运动状态。通过开环和闭环试验，对控制器在典型的驾驶工况下的有效性进行了验证。通过与PID控制器的结果对比，证明所设计的内模控制器能提供更好的控制性能。为减少驾驶员的操纵负担并确保车辆在不同行驶条件下的稳定性，根据不同工况下的测试结果提出基于增益不变的变角传动比控制策略，并设计了滑模控制器跟踪期望横摆角以实现主动转向。通过对内模和滑模控制器的联合仿真结果表明，所设计的控制器可实现期望横摆角度的精确跟踪，显著提高车辆的操纵灵活性和稳定性。

关键词: 线控转向系统, 内模控制器, 滑模控制器, 主动转向

Abstract: The steering angle of a steer-by-wire(SBW) system is controlled to achieve the desired steering angle reliably and accurately. For an established SBW test platform, by using auto regressive exogenous algorithm, the parameters of the SBW system are identified for the corresponding mathematical model. Then, an internal model controller(IMC) for the SBW system is designed to track desired motion variables of controlled vehicle. In some typical driving conditions, simulations are carried out to examine the effectiveness of the designed controller. Compared with a PID controller, study results demonstrate that the IMC controller is able to provide better control performance.To reduce the steering efforts of the driver and ensure the stability of vehicle in different operation conditions, a varying gearing-ratio control strategy for both yaw rate gain and lateral acceleration gain is proposed for different cases. Besides, a sliding mode controller(SMC) for tracking desired yaw rate is designed to realize the active steering. A co-simulation platform based on MATLAB/Simulink and a hardware-in-the loop (HIL) system is developed. Co-simulation results show that desired yaw rate can be tracked satisfactorily by using the designed controllers, with enhanced handling and stability performance.

Key words: steer-by-wire(SBW), internal model controller(IMC), sliding mode controller(SMC), active steering

中图分类号:

罗建南, 朱光钰, 杨浩瀚, 喻凡, 陈俐. 线控转向系统的前轮转角跟踪策略研究[J]. 机械工程学报, 2019, 55(22): 165-173.

LUO Jiannan, ZHU Guangyu, YANG Haohan, YU Fan, CHEN Li. Study on Front Wheel Angle Tracking Strategy of Steering-by-wire System[J]. Journal of Mechanical Engineering, 2019, 55(22): 165-173.

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线控转向系统的前轮转角跟踪策略研究

Study on Front Wheel Angle Tracking Strategy of Steering-by-wire System

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