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

doi:10.3901/JME.2019.22.165

Journal of Mechanical Engineering ›› 2019, Vol. 55 ›› Issue (22): 165-173.doi: 10.3901/JME.2019.22.165

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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

Abstract

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

CLC Number:

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

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