无感线控转向阻力矩比积观测器与转角反步控制

doi:10.3901/JME.260272

机械工程学报 ›› 2026, Vol. 62 ›› Issue (8): 114-124.doi: 10.3901/JME.260272

• 特邀专辑：汽车线控底盘 • 上一篇下一篇

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无感线控转向阻力矩比积观测器与转角反步控制

彭闪闪^1,2, 贺林², 徐子昂², 王铭哲², 魏宇江², 石琴²

1. 安徽信息工程学院机械工程学院芜湖 241000;
2. 合肥工业大学汽车与交通工程学院合肥 230009

收稿日期:2025-04-30 修回日期:2025-10-15 出版日期:2026-04-20 发布日期:2026-06-12
作者简介:彭闪闪,女,1989年出生,讲师。主要研究方向为汽车电子、车辆动力学与控制。E-mail:2016048@aiit.edu.cn;贺林(通信作者),男,1977年出生,博士,研究员,博士研究生导师。主要研究方向为车辆动力学与控制、汽车动力传动与控制。E-mail:helin09@tsinghua.org.cn
基金资助:
安徽省科技攻坚计划(202423d12050001);安徽省重点研究与开发计划(202304a05020087);江苏省重点研发计划重点(BE2021006-2);安徽省教育厅高校中青年教师培养行动(JNFX2024095)资助项目。

Backstepping Angle Control with Resistance Torque Proportional Integral Observer for Sensorless Steer-by-wire

PENG Shanshan^1,2, HE Lin², XU Ziang², WANG Mingzhe², WEI Yujiang², SHI Qin²

1. School of Mechanical Engineering, Anhui Institute of Information Technology, Wuhu 241000;
2. School of Automobile and Transportation Engineering, Hefei University of Technology, Hefei 230009

Received:2025-04-30 Revised:2025-10-15 Online:2026-04-20 Published:2026-06-12

摘要/Abstract

摘要： 无车轮转角传感器的电动线控转向系统面临两大挑战：一是转向阻力矩的实时准确获取；二是车轮转角的实时准确控制。针对转向阻力矩，设计出一种低算力高精度的比积观测器，实现了系统阻力矩实时准确估计。针对线控转向动力学呈现出典型的二阶串联系统特征，设计出一种反步控制算法，实现车轮目标转角的实时高精度跟踪控制。进一步建立李雅普诺夫函数，证明了采用阻力矩比积观测器与车轮转角反步控制的无感线控转向系统是渐进稳定的。为了验证上述观测与控制算法，搭建了采用无感线控转向系统的实车底盘测试平台，选用正弦工况和斜坡工况进行控制算法验证。实车测试结果表明，比积观测器能够有效估计系统阻力矩，以及所设计的基于比积观测器的反步控制算法能够实时高精度跟踪车轮目标转角。

关键词: 无感线控转向, 比积观测器, 阻力矩估计, 反步控制, 李雅普诺夫稳定

Abstract: The electric motor steer-by-wire system without the road wheel angle sensor faces two major challenges: one is the real-time accurate acquisition of the steering resistance torque; the other is the real-time accurate angle control. This paper designs a low-calculation and high-precision proportional integral observer to achieve the accurate estimation of the system torque. For the steering dynamics presenting the typical second-order series system characteristics, this paper designs a backstepping angle tracking control algorithm. The Lyapunov function is further established to demonstrate that the sensorless steer-by-wire system using the designed control algorithm is asymptotically stable. A real vehicle chassis test platform using the sensorless steer-by-wire system is constructed, and the sinusoidal and slope tests are selected for the validation of the control algorithm. The experimental results show that the proportional integral observer can effectively estimate the system resisting moment, and the backstepping control algorithm based on the the proportional integral observer is able to track the target angle accurately in real-time.

Key words: sensorless steer-by-wire, proportional integral observer, resistance moment estimation, backstepping control, Lyapunov stability

中图分类号:

TG156

彭闪闪, 贺林, 徐子昂, 王铭哲, 魏宇江, 石琴. 无感线控转向阻力矩比积观测器与转角反步控制[J]. 机械工程学报, 2026, 62(8): 114-124.

PENG Shanshan, HE Lin, XU Ziang, WANG Mingzhe, WEI Yujiang, SHI Qin. Backstepping Angle Control with Resistance Torque Proportional Integral Observer for Sensorless Steer-by-wire[J]. Journal of Mechanical Engineering, 2026, 62(8): 114-124.

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无感线控转向阻力矩比积观测器与转角反步控制

Backstepping Angle Control with Resistance Torque Proportional Integral Observer for Sensorless Steer-by-wire

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