CN107140012A - A kind of wire-controlled steering system and control method based on the Kalman filter that can suppress diverging - Google Patents
A kind of wire-controlled steering system and control method based on the Kalman filter that can suppress diverging Download PDFInfo
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- CN107140012A CN107140012A CN201710327366.3A CN201710327366A CN107140012A CN 107140012 A CN107140012 A CN 107140012A CN 201710327366 A CN201710327366 A CN 201710327366A CN 107140012 A CN107140012 A CN 107140012A
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Classifications
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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
- B62D5/0421—Electric motor acting on or near steering gear
-
- 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
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- 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
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
Abstract
The invention discloses a kind of wire-controlled steering system based on the Kalman filter that can suppress diverging and control method, the system includes steering wheel and its bindiny mechanism, steering wheel angle sensor, steering wheel torque sensor, road feel motor, road feel motor current sensor, steering motor, steering motor current sensor, vehicle speed sensor, front wheel angle sensor, rack and pinion steering gear, position sensor, filtering estimation module, analysis module, control signal laminating module and steering electronic control unit.The Kalman filter that utilization of the present invention can suppress diverging is filtered predicted estimate to the posture of motor racing, and the Kalman filter with divergence restraint function obtains signal from electronic sensor, the real-time status to estimate automobile.The steering controller of system disclosed in this invention can be on the premise of stable direction be ensured so that system has good AF panel performance, so as to obtain good vehicle handling stability.
Description
Technical field
The present invention relates to the field of automobile steer-by-wire system, specific descriptions be it is a kind of based on can suppress diverging
The wire-controlled steering system of Kalman filter, belongs to the control field of automobile steering system.
Background technology
Nowadays, eliminating the wire-controlled steering system connected between the machinery in steering has preferable development prospect,
It, which has, realizes the function of active steering and variable steering disk torque-feedback, its flexible design, the features such as simplifying structure by
Pursued to popular.To wire-controlled steering system, automobile steering system necessary " road feel " is especially emphasized, therefore determine line traffic control
The operation of steering is strongly dependent on the attribute of sensor signal, and this also causes its reliability compared with conventional steering system significantly
Reduce.In order to solve this problem, propose to reduce the quantity of sensor with the method for Kalman Filter Estimation, to improve essence
Degree.But meanwhile, also draw another question --- filtering divergence.The mathematical modeling of system or the statistical property of noise are not
Accurately, it is impossible to reflect the real physical process of system, these factors can cause Kalman filtering to dissipate.
In addition, under the operating mode of various change, there is certain noise jamming to sensor, and automobile also can be by horizontal stroke
The influence of wind and road excitation, these can all influence the reliability of the steering of automobile, the stability pair of steering
The travel safety of automobile has strong influence.
Therefore, a Kalman filter that can suppress diverging is equipped with to wire-controlled steering system and one dry with well resisting
Immunity can completely be necessary with the steering controller of stability.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides a kind of karr for suppressing diverging
Graceful wave filter integrates the wire-controlled steering system based on the Kalman filter that can suppress diverging that robust controller cooperates with μ
And control method, system disclosed in this invention can be on the premise of stable direction be ensured, by controlling in steering
The driving current of steering motor, obtains adapting to the steering angle under different operating modes so that system has good AF panel
Can, so as to obtain good vehicle handling stability.
Technical scheme：To achieve the above object, the technical solution adopted by the present invention is：
A kind of wire-controlled steering system based on the Kalman filter that can suppress diverging, including steering wheel (1) and its connection
Mechanism Y, steering wheel angle sensor (2), steering wheel torque sensor (3), road feel motor A, road feel motor current sensor
(6), steering motor B, steering motor current sensor (7), rack and pinion steering gear (4), position sensor (5), front wheel angle
Sensor (8), vehicle speed sensor (9), steering electronic control unit ECU, filtering estimation module L, analysis module P and control
Signal averaging module C processed, wherein.
The steering wheel (1) is connected by bindiny mechanism Y steering column with road feel motor A, steering wheel angle sensor
(2) it is installed in steering wheel torque sensor (3) on steering column, the steering wheel angle sensor (2) gathers steering wheel
(1) torque signals applied on angular signal, steering wheel torque sensor (3) collection steering wheel (1), measured corner letter
Number and torque signals be input to filtering estimation module L input and turn to electronic control unit ECU.
The road feel motor current sensor (6) is installed together with road feel motor A, the road feel motor current sensor
(6) it is used for the current signal for detecting input road feel motor A, and the input road feel motor A detected current signal is input to
Turn to electronic control unit ECU.
The steering motor B is connected with rack and pinion steering gear (4), steering motor current sensor (7) and steering motor B
It is installed together, the steering motor current sensor (7) detection input steering motor B current signal, and will detects
Input steering motor B current signal is input to steering electronic control unit ECU.
Installation site sensor (5) on the rack and pinion steering gear (4), the position sensor (5) is used to gather tooth
The displacement signal of rack steering gear middle rack is taken turns, and the displacement signal detected is input to the input for filtering estimation module L
With steering electronic control unit ECU.Rack and pinion steering gear (4) is connected with front-wheel.
The front wheel angle sensor (8) and vehicle speed sensor (9) are arranged on front-wheel, the front wheel angle sensor
(8) it is used for the signal for detecting the steering angle of front-wheel, the vehicle speed sensor (9) is used for the real-time GES for detecting automobile.
The signal and speed of the steering angle measured are input to filtering estimation module L input.
The filtering estimation module L, input receive steering wheel angle sensor (2), steering wheel torque sensor (3),
The signal of position sensor (5), front wheel angle sensor (8) and vehicle speed sensor (9), by the sensor signal of acquisition,
With the Kalman Filter Estimation algorithm for suppressing diverging, the side slip angle of real-time automobile is estimated, obtained data are estimated
It is input to analysis module P.
The analysis module P accept filter estimation module L input side slip angle data, judge that automobile is real-time
Side slip angle whether in safe range, it by motor turning posture safety signal be input to steering electronic control unit
ECU.If it is determined that the side slip angle of automobile is in risk range, danger signal can be input to control signal laminating module by it
C。
The control signal laminating module C, is received after vehicle hazard signal, by the calculating of automobile robust controller,
Output superposition control signal to steering electronic control unit ECU.
On the one hand the steering electronic control unit ECU inputs receive steering wheel angle sensor (2), steering wheel torque
Sensor (3), position sensor (5), the signal of road feel motor current sensor (6) and steering motor current sensor (7), one
Aspect receives control signal laminating module C superposed signal.When automotive safety, according to steering wheel angle sensor (2), direction
Disk torque sensor (3), position sensor (5), road feel motor current sensor (6) and steering motor current sensor (7)
Signal is calculated, and exports electronic signal to drive road feel motor A and steering motor B output currents.When automobile is dangerous, turn
To electronic control unit ECU except receiving steering wheel angle sensor (2), steering wheel torque sensor (3), position sensor
(5), outside the signal of road feel motor current sensor (6) and steering motor current sensor (7), control signal superposition is also received
Module C superposed signal, with reference to both signal of change, exports electronic signal to drive road feel motor A and steering motor B to export
Electric current, to control road feel motor A, steering motor B to produce corresponding torque, so as to obtain accurate and stable steering reaction.
A kind of steering-by-wire control method based on the Kalman filter that can suppress diverging, comprises the following steps：
Step 1：Steering wheel is inputted with torque and corner, by bindiny mechanism Y, rack and pinion steering gear (4) by torque with
And corner is delivered to front-wheel, to realize the operation of steering.
Step 2, steering wheel angle sensor (2) collection steering wheel (1) angular signal, steering wheel torque sensor (3) is adopted
The signal of the torque applied on collection steering wheel (1), the displacement letter of position sensor (5) the collection middle rack of rack and pinion steering gear 4
Number, the signal of the steering angle of the collection front-wheel of front wheel angle sensor 8, vehicle speed sensor 8 collects the real-time speed letter of automobile
Number, the signal that filtering estimation module L is inputted by sensor, with the Kalman Filter Estimation algorithm for suppressing diverging, is estimated
The side slip angle of real-time automobile, and this signal is input in analysis module P.
Step 3, analysis module P accept filter estimation module L input side slip angle data, judge automobile reality
When side slip angle whether in safe range, basis signal judges whether driving control signal laminating module C.
Step 4, control signal laminating module C, is received after vehicle hazard signal, passes through the meter of automobile robust controller
Calculate, the control signal that output is superimposed to steering electronic control unit ECU.
Step 5, the electronic control unit ECU electronic signals appropriate according to the signal output of input is turned to drive control road
Electrification machine A, steering motor B output currents, perform motor turning operation, the steering state stablized.
The signal that estimation module L is inputted by sensor is filtered in the step 2, with the Kalman filtering for suppressing diverging
Algorithm for estimating, the method for estimating the side slip angle of real-time automobile, comprises the following steps：
Step 2.1, the whole vehicle model of the linear two degrees of freedom of vehicle is set up,.
Wherein：β vehicle body side slip angles.γ is automobile yaw velocity.k1For vehicle front cornering stiffness.k2For automobile
Trailing wheel cornering stiffness.M is vehicle complete vehicle quality.U is speed.A is distance of the automobile barycenter to front axle.B is after automobile barycenter is arrived
The distance of axle.IzFor Cars ' Moment of Inertia.δfFor vehicle front corner.
Step 2.2：The time of estimating system is updated.
Toward the state variable of previous moment Estimation System：
Toward the error variance of previous moment Estimation System：
Step 2.3：To the measurement renewal process of estimating system.
Calculate Kalman filtering gain：
By observed quantity zkMore new estimation：
Update error equation：
Wherein：For the state variable at system k moment, k is time step,For what is predicted using Last status
As a result, ukTo control variable,For the k momentCorresponding covariance matrix,To predict the k moment using Last status
Covariance matrix zkFor measurement vector, Ak、Bk、HkFor state matrix,For state matrix AkTransposition, QkAssisted for process noise
Variance matrix, RkFor measurement noise covariance matrix, KkFor gain coefficient, zkFor the observed quantity at k moment.
Step 2.4, filtering error variance matrix is increased by the method for weighting, so that increase gain battle array indirectly, to suppress
The true diverging of wave filter, the method for increasing filtering error variance matrix is as follows：
Calculate weight coefficient
Wherein：SkFor weight coefficient, εkFor innovation sequence.
Control signal laminating module C in step 4, is received after vehicle hazard signal, passes through the meter of automobile robust controller
Calculate, export the control signal of superposition to the method for turning to electronic control unit ECU, comprise the following steps：
Step 4.1：Set up the model of control object
The control object of this controller is the actuating motor in line control system, is considered not true in vehicle traveling process
Determine the interference of factor, the state variable for taking control system isThe control input of system is u=[θr],
Measurement is output as y=[β], and disturbance input is w=[θh Fv Tr]T, evaluate output z=[z1 z2 z3]T, the control object of foundation
Model is as follows：
Wherein：
In formula：JmIt is the rotary inertia of steering motor.BmThe damped coefficient of steering motor.KmIt is steering motor and reductor
The stiffness coefficient of structure assembly.N is total gearratio of the steering wheel to front-wheel.Distance of the e beam wind equivalent operating point apart from barycenter.d
For longitudinal drag of automobile tire.M is complete vehicle quality.IzIt is the rotary inertia of automobile.k1It is the cornering stiffness of vehicle front.k2
It is the cornering stiffness of automobile back wheel.A, b are distance of the axle to barycenter respectively.U is the longitudinal velocity of automobile.θfFor front-wheel
Corner.θhFor steering wheel angle.β is side slip angle.ωrYaw velocity.FvDisturbed for lateral wind.TrIt is anti-for assist motor
Electromotive force.θrFor the corner of superposition.
Step 4.2：Design robust controller
The Generalized Control object of system is：
In formula：GuncTo consider the uncertainty models of Systematic forest.
Design object, which is to solve for controller C, makes augmentation controlled device internal stability, is the transmission letter for inputting w to output z
Number | | Hzw||∞<1。
Based on side slip angle feed back wire-controlled steering system stability control problem representation be：
U=Ky
Wherein：Gd(s) (s=1,2,3) is expressed asTo z1、z2And z3Closed loop transfer function,.
W1, W2For weighting function.WdFor interference weighting matrix.z1、z2And z3Exported for the evaluation of system.The disturbance input β of the system*For
Preferable yaw velocity, control input u is the compensation corner of front-wheel, and exogenous disturbances are preferable front wheel angle δf *, lateral wind
Disturb FvAnd the disturbance torque T on road surfacer。
To carry out the design that μ integrates robust controller, μ integrated approach is the iterative algorithm based on structured singular value, the control
The control targe of device processed, which is intended to whole closed-loop system, becomes stable, then：
Wherein：If M (s)=FL(P, C) is the system closed-loop matrix under model-free perturbs, and M is generalized object P and controller
The lower linear fraction that C is constituted.μ is system architecture singular value.
Singular value μ upper bound property is analyzed, the optimization problem of following formula is solved, generally uses D-K iterative algorithms, just
μ can be obtained and integrate robust controller.
Wherein, D is diagonal constant scaled matrix.
It is preferred that：The upper limit of side slip angle is set to βup=tan-1(0.02 μ g), wherein μ is coefficient of road adhesion, and g is
Acceleration of gravity.
The present invention compared with prior art, has the advantages that：
1) by the signal of sensor, parameter Estimation is carried out with Kalman Filter Estimation device, this can reduce sensing vehicle
The usage quantity of device.
2) with the side slip angle that automobile is obtained with the Kalman Filter Estimation device estimation for suppressing filtering divergence function,
More common Kalman filter, it can obtain accurate data, and then the road feel of wire-controlled steering system is obtained
It is due to ensure.
3) side slip angle of automobile is obtained with the method for estimation, the cost of line control system has been saved.
4) present invention design one robust controller, be using side slip angle for feed back controller, can be by the matter of automobile
Heart side drift angle is controlled in safe range, allows automobile to eliminate outer bound pair its influence for bringing so that steering-by-wire vehicle can oneself
An additional rotation angle in emergency circumstances is provided for automobile by the stability control strategy designed, so that automobile keeps steady
It is fixed, so as to improve the stability and security of the robustness of steering, anti-interference and running car.
Brief description of the drawings
Fig. 1 is the structural representation of power steering system of the present invention
Fig. 2 is the control structure block diagram of controller disclosed in this invention
Steering wheel 1 and its bindiny mechanism Y, steering wheel angle sensor 2, steering wheel torque sensor 3, road feel motor A, road
Feel motor current sensor 6, steering motor B, steering motor current sensor 7, vehicle speed sensor 8, front wheel angle sensor 9,
Rack and pinion steering gear 4, position sensor 5, filtering estimation module L, analysis module P, control signal laminating module C and
Turn to electronic control unit ECU.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the present invention is furture elucidated, it should be understood that these examples are merely to illustrate this
Invention rather than limitation the scope of the present invention, after the present invention has been read, those skilled in the art are various to the present invention's
The modification of the equivalent form of value falls within the application appended claims limited range.
As shown in figure 1, a kind of wire-controlled steering system based on the Kalman filter that can suppress diverging, including steering wheel 1
And its bindiny mechanism Y, steering wheel angle sensor 2, steering wheel torque sensor 3, road feel motor A, road feel current of electric sensing
Device 6, steering motor B, steering motor current sensor 7, vehicle speed sensor 8, front wheel angle sensor 9, rack and pinion steering gear
4th, position sensor 5, filtering estimation module L, analysis module P, control signal laminating module C and steering Electronic Control list
First ECU.
The steering wheel (1) is connected by bindiny mechanism's steering column (Y) with road feel motor (A), steering wheel angle sensing
Device (2) is arranged on steering column (Y) with steering wheel torque sensor (3), and measured signal is input to filtering estimation module (L)
Input.
The road feel motor current sensor (6) is installed together with road feel motor (A), the electric current letter of detection input motor
Number, another part is input to steering electronic control unit (ECU) as signal.
The steering motor (B) is connected with rack and pinion steering gear (4), and steering motor current sensor (7) is with turning to electricity
Machine (B) is installed together, and the current signal of detection input steering motor, another part is input to steering electronics control as signal
Unit processed.
Installation site sensor (5) on the rack and pinion steering gear (4), position sensor signal is input to filtering estimation
The input of module.In addition, rack and pinion steering gear is connected by some other mechanical mechanisms with front-wheel.
The front wheel angle sensor (8) and vehicle speed sensor (9) are arranged on front-wheel, and it measures signal and is input to filter
The input of ripple estimation module.
The filtering estimation module (L), input receives steering wheel angle sensor, steering wheel torque sensor, position
The signal of the sensors such as sensor, front wheel angle sensor, vehicle speed sensor, by the sensor signal of acquisition, utilization can press down
The Kalman Filter Estimation algorithm of diverging is made, the side slip angle of real-time automobile is estimated, estimates that obtained data input is arrived
Analysis module.
The analysis module (P), the data of the side slip angle of the estimation module that accepts filter input judge that automobile is real
When side slip angle whether in safe range, it by motor turning posture safety signal be input to steering Electronic Control list
Member.If it is determined that the side slip angle of automobile is in risk range, danger signal can be input to control signal laminating module by it.
The control signal laminating module (C), receives after vehicle hazard signal, passes through the meter of automobile robust controller
Calculate, the control signal that output is superimposed to steering electronic control unit.
On the one hand described steering electronic control unit (ECU) input receives sensor signal, on the one hand receives control letter
The superposed signal of number laminating module.When automotive safety, calculated according to sensor signal, export appropriate electronic signal to drive
Motor output current.When automobile is dangerous, electronic control unit is turned in addition to receiving sensor signal, control is also received
The superposed signal of Signal averaging module, with reference to both signal of change, exports appropriate electronic signal and exports electricity with motor
Stream.In addition, two other input of electronic control unit receives road feel motor current sensor and steering motor electric current is passed
The current signal of sensor input.
According to the control method of described wire-controlled steering system.Following steps：
Step 1：Steering wheel is inputted with torque and corner, before being delivered to torque and corner by mechanisms such as steering gears
Wheel, to realize steering operation.
Step 2：Steering wheel angle sensor is gathered on steering wheel angle signal, steering wheel torque sensor collection steering wheel
The signal of the torque of application, position sensor gathers the displacement signal of rack and pinion steering gear middle rack, front wheel angle sensor
The signal of the steering angle of front-wheel is gathered, vehicle speed sensor collects the real-time GES of automobile, the signal transmission collected
Into filtering estimation module, the Kalman Filter Estimation algorithm of diverging can be suppressed by the module utilization, real-time automobile is drawn
Side slip angle, and this signal is also entered into analysis module.
The Kalman Filter Estimation device that diverging can be suppressed described in step 2 is reconstructed to the motion state of automobile, to estimate vapour
The real-time side slip angle of car, what it was estimated comprises the following steps that：
Step 2.1：Set up the whole vehicle model of the linear two degrees of freedom of vehicle.
Step 2.2：The time of estimating system is updated.
Toward the state variable of previous moment Estimation System：
Toward the error variance of previous moment Estimation System：
Step 2.3：To the measurement renewal process of estimating system.
Calculate Kalman filtering gain：
By observed quantity zkMore new estimation：
Update error equation：
Wherein：For the state variable at system k moment, k is time step,For what is predicted using Last status
As a result, ukTo control variable,For the k momentCorresponding covariance matrix,To predict the k moment using Last status
Covariance matrix zkFor measurement vector, Ak、Bk、HkFor state matrix,For state matrix AkTransposition, QkAssisted for process noise
Variance matrix, RkFor measurement noise covariance matrix, KkFor gain coefficient, zkFor the observed quantity at k moment.
Step 2.4：Filtering error variance matrix is artificially increased by the method for weighting, so that increase gain battle array indirectly,
With the true diverging of rejects trap.
After the completion of previous moment estimation, innovation sequenceThe information of actual estimated error is contained, and is filtered
The actual estimated error of device diverging exceedes theoretical predicted value.Therefore, judge that the criterion whether Kalman filter dissipates is：Wherein γ is reserve factor, (γ>1), tr { } is the mark of matrix, εkTo update
Sequence.
When being unsatisfactory for criterion, then filtering divergence：When criterion is set up, filtering error variance matrix will be increased.
So as to
Calculate weight coefficient
This process passes through measurement data and weight coefficient Sk, to KkCarry out necessary amendment.If error increase so that Sk
Also increase, causeAlso increase, as a result cause | | Kk| | also increase, so as to strengthen the attention degree to new information, enter
And overcome filtering divergence.
Step 3：Analysis module accept filter estimation module input side slip angle data, judge the matter of automobile
Whether heart side drift angle is in safe range, and basis signal judges whether driving control signal laminating module.
To the safe range of side slip angle for given steering wheel angle and speed, desired barycenter lateral deviation can be obtained
Angle.But in order to ensure side slip angle is unlikely to excessive, it is necessary to set higher limit.When side slip angle is very big, tire can lose
Linear characteristic is gone and close to road surface limit of adhesion, therefore, it is necessary to set the upper limit of side slip angle.Based on experience value, matter
The upper limit of heart side drift angle is set to βup=tan-1(0.02 μ g), wherein μ is coefficient of road adhesion.G is acceleration of gravity.
The target centroid side drift angle β to be controlledrIt is defined as：
Step 4：Control signal laminating module, is received after vehicle hazard signal, by the calculating of automobile robust controller,
Output superposition control signal to steering electronic control unit.
As shown in Fig. 2 automobile μ disclosed in this invention integrates robust controller, its control method is comprised the steps of：
Step 1：Set up the model of control object
The control object of this controller is the actuating motor in line control system, is considered many in vehicle traveling process
The interference of uncertain factor, the state variable for taking control system isThe control input of system is u=
[θr], measurement is output as y=[β], and disturbance input is w=[θh Fv Tr]T, evaluate output z=[z1 z2 z3]T, the control of foundation
Object model is as follows：
Wherein：
C2=[0 01 0].D21=[0 0 0].D22=[0].
In formula：JmIt is the rotary inertia of steering motor.BmThe damped coefficient of steering motor.KmIt is steering motor and reductor
The stiffness coefficient of structure assembly.N is total gearratio of the steering wheel to front-wheel.Distance of the e beam wind equivalent operating point apart from barycenter.d
For longitudinal drag of automobile tire.M is complete vehicle quality.IzIt is the rotary inertia of automobile.k1It is the cornering stiffness of vehicle front.k2
It is the cornering stiffness of automobile back wheel.A, b are distance of the axle to barycenter respectively.U is the longitudinal velocity of automobile.θfFor front-wheel
Corner.θhFor steering wheel angle.β is side slip angle.ωrYaw velocity.FvDisturbed for lateral wind.TrIt is anti-for assist motor
Electromotive force.θrFor the corner of superposition.
Step 2：Design robust controller.
The Generalized Control object of system is：
In formula：GuncTo consider the uncertainty models of Systematic forest.
Design object, which is to solve for controller C, makes augmentation controlled device internal stability, is the transmission letter for inputting w to output z
Number | | Hzw||∞<1。
Therefore, the wire-controlled steering system stability control problem fed back based on side slip angle can be just expressed as：
U=Ky
Wherein：Gd(s) (s=1,2,3) is expressed asTo z1、z2And z3Closed loop transfer function,.
W1, W2For weighting function.WdFor interference weighting matrix.z1、z2And z3Exported for the evaluation of system.The disturbance input β of the system*For
Preferable yaw velocity, control input u is the compensation corner of front-wheel, and exogenous disturbances are preferable front wheel angle δf *, lateral wind
Disturb FvAnd the disturbance torque T on road surfacer。
To carry out the design that μ integrates robust controller, μ integrated approach is the iterative algorithm based on structured singular value, the control
The control targe of device processed, which is intended to whole closed-loop system, becomes stable, then：
Wherein：If M (s)=FL(P, C) is the system closed-loop matrix under model-free perturbs, and M is generalized object P and controller
The lower linear fraction that C is constituted.μ is system architecture singular value.
Singular value μ upper bound property is analyzed, the optimization problem of following formula is solved, generally uses D-K iterative algorithms, just
μ can be obtained and integrate robust controller.
Wherein, D is diagonal constant scaled matrix.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (5)
1. a kind of wire-controlled steering system based on the Kalman filter that can suppress diverging, it is characterised in that：Including steering wheel (1)
And its bindiny mechanism Y, steering wheel angle sensor (2), steering wheel torque sensor (3), road feel motor A, road feel current of electric
It is sensor (6), steering motor B, steering motor current sensor (7), rack and pinion steering gear (4), position sensor (5), preceding
Take turns rotary angle transmitter (8), vehicle speed sensor (9), turn to electronic control unit ECU, filtering estimation module L, analysis module P
And control signal laminating module C, wherein；
The steering wheel (1) is connected by bindiny mechanism Y steering column with road feel motor A, steering wheel angle sensor (2) with
Steering wheel torque sensor (3) is installed on steering column, steering wheel angle sensor (2) the collection steering wheel (1)
The torque signals applied in angular signal, steering wheel torque sensor (3) collection steering wheel (1), measured angular signal and
Torque signals are input to filtering estimation module L input and turn to electronic control unit ECU；
The road feel motor current sensor (6) is installed together with road feel motor A, the road feel motor current sensor (6)
For detecting input road feel motor A current signal, and the input road feel motor A detected current signal is input to steering
Electronic control unit ECU；
The steering motor B is connected with rack and pinion steering gear (4), and steering motor current sensor (7) is installed with steering motor B
Together, the steering motor current sensor (7) detection input steering motor B current signal, and by the input detected
Steering motor B current signal is input to steering electronic control unit ECU；
Installation site sensor (5) on the rack and pinion steering gear (4), the position sensor (5) is used to gather gear teeth
The displacement signal of bar steering gear middle rack, and the displacement signal detected is input to filtering estimation module L input and turned
To electronic control unit ECU；Rack and pinion steering gear (4) is connected with front-wheel；
The front wheel angle sensor (8) and vehicle speed sensor (9) are arranged on front-wheel, the front wheel angle sensor (8)
For the signal for the steering angle for detecting front-wheel, the vehicle speed sensor (9) is used for the real-time GES for detecting automobile；Measure
Steering angle signal and speed be input to filtering estimation module L input；
The filtering estimation module L, input receives steering wheel angle sensor (2), steering wheel torque sensor (3), position
The signal of sensor (5), front wheel angle sensor (8) and vehicle speed sensor (9), by the sensor signal of acquisition, is used
Suppress the Kalman Filter Estimation algorithm of diverging, estimate the side slip angle of real-time automobile, estimate obtained data input
To analysis module P；
The analysis module P accept filter estimation module L input side slip angle data, judge the real-time matter of automobile
Whether heart side drift angle is in safe range, and the signal of motor turning posture safety is input to steering electronic control unit ECU by it；
If it is determined that the side slip angle of automobile is in risk range, danger signal can be input to control signal laminating module C by it；
The control signal laminating module C, is received after vehicle hazard signal, passes through the calculating of automobile robust controller, output
The control signal of superposition to turn to electronic control unit ECU；
On the one hand the steering electronic control unit ECU inputs receive steering wheel angle sensor (2), steering wheel torque sensing
Device (3), position sensor (5), the signal of road feel motor current sensor (6) and steering motor current sensor (7), on the one hand
Receive control signal laminating module C superposed signal；When automotive safety, turn according to steering wheel angle sensor (2), steering wheel
Square sensor (3), position sensor (5), the signal of road feel motor current sensor (6) and steering motor current sensor (7)
Calculated, export electronic signal to drive road feel motor A and steering motor B output currents；When automobile is dangerous, electricity is turned to
Sub-control unit ECU is except receiving steering wheel angle sensor (2), steering wheel torque sensor (3), position sensor (5), road
Outside the signal for feeling motor current sensor (6) and steering motor current sensor (7), control signal laminating module C is also received
Superposed signal, with reference to both signal of change, output electronic signal to drive road feel motor A and steering motor B output currents,
To control road feel motor A, steering motor B to produce corresponding torque, so as to obtain accurate and stable steering reaction.
2. a kind of steering-by-wire control method as claimed in claim 1 based on the Kalman filter that can suppress diverging, it is special
Levy and be, comprise the following steps：
Step 1：Steering wheel is inputted with torque and corner, and by bindiny mechanism Y, rack and pinion steering gear (4) is by torque and turns
Angle is delivered to front-wheel, to realize the operation of steering；
Step 2, steering wheel angle sensor (2) collection steering wheel (1) angular signal, steering wheel torque sensor (3) collection side
The signal of the torque applied on to disk (1), position sensor (5) gathers the displacement signal of the middle rack of rack and pinion steering gear 4, preceding
The signal of the steering angle of the collection front-wheel of rotary angle transmitter 8 is taken turns, vehicle speed sensor 8 collects the real-time GES of automobile, filtered
The signal that ripple estimation module L is inputted by sensor, with the Kalman Filter Estimation algorithm for suppressing diverging, is estimated in real time
The side slip angle of automobile, and this signal is input in analysis module P；
Step 3, analysis module P accept filter estimation module L input side slip angle data, judge that automobile is real-time
Whether side slip angle is in safe range, and basis signal judges whether driving control signal laminating module C；
Step 4, control signal laminating module C, is received after vehicle hazard signal, defeated by the calculating of automobile robust controller
Go out the control signal of superposition to turning to electronic control unit ECU；
Step 5, the electronic control unit ECU electronic signals appropriate according to the signal output of input is turned to drive control road feel electricity
Machine A, steering motor B output currents, perform motor turning operation, the steering state stablized.
3. the steering-by-wire control method according to claim 2 based on the Kalman filter that can suppress diverging, its feature
It is：Estimation module L is filtered in the step 2 by sensor input signal, with the Kalman Filter Estimation for suppressing diverging
Algorithm, the method for estimating the side slip angle of real-time automobile, comprises the following steps：
Step 2.1, the whole vehicle model of the linear two degrees of freedom of vehicle is set up,；
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Wherein：β vehicle body side slip angles；γ is automobile yaw velocity；k1For vehicle front cornering stiffness；k2For automobile back wheel
Cornering stiffness；M is vehicle complete vehicle quality；U is speed；A is distance of the automobile barycenter to front axle；B is automobile barycenter to rear axle
Distance；IzFor Cars ' Moment of Inertia；δfFor vehicle front corner；
Step 2.2：The time of estimating system is updated；
Toward the state variable of a moment Estimation System：
Toward the error variance of previous moment Estimation System：
Step 2.3：To the measurement renewal process of estimating system；
Calculate Kalman filtering gain：
By observed quantity zkMore new estimation：
Update error equation：
Wherein：For the state variable at system k moment, k is time step,To utilize the result that Last status is predicted,
ukTo control variable,For the k momentCorresponding covariance matrix,To predict the association side at k moment using Last status
Poor matrix zkFor measurement vector, Ak、Bk、HkFor state matrix,For state matrix AkTransposition, QkFor process noise covariance square
Battle array, RkFor measurement noise covariance matrix, KkFor gain coefficient, zkFor the observed quantity at k moment；
Step 2.4, filtering error variance matrix is increased by the method for weighting, so that increase gain battle array indirectly, to suppress filtering
The true diverging of device, the method for increasing filtering error variance matrix is as follows：
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Calculate weight coefficient
Wherein：SkFor weight coefficient, εkFor innovation sequence.
4. the steering-by-wire control method according to claim 2 based on the Kalman filter that can suppress diverging, its feature
It is：Control signal laminating module C in step 4, is received after vehicle hazard signal, by the calculating of automobile robust controller,
The control signal of superposition is exported to the method for turning to electronic control unit ECU, is comprised the following steps：
Step 4.1：Set up the model of control object
The control object of this controller is the actuating motor in line control system, consider in vehicle traveling process it is uncertain because
The interference of element, the state variable for taking control system isThe control input of system is u=[θr], measure
Y=[β] is output as, disturbance input is w=[θh Fv Tr]T, evaluate output z=[z1 z2 z3]T, the control object model of foundation
It is as follows：
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In formula：JmIt is the rotary inertia of steering motor；BmThe damped coefficient of steering motor；KmIt is that steering motor and reducing gear are total
Into stiffness coefficient；N is total gearratio of the steering wheel to front-wheel；Distance of the e beam wind equivalent operating point apart from barycenter；D is vapour
Longitudinal drag of wheel tire；M is complete vehicle quality；IzIt is the rotary inertia of automobile；k1It is the cornering stiffness of vehicle front；k2It is vapour
The cornering stiffness of back wheels of vehicle；A, b are distance of the axle to barycenter respectively；U is the longitudinal velocity of automobile；θfFor front wheel angle；
θhFor steering wheel angle；β is side slip angle；ωrYaw velocity；FvDisturbed for lateral wind；TrIt is anti-electronic for assist motor
Gesture；θrFor the corner of superposition；
Step 4.2：Design robust controller
The Generalized Control object of system is：
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In formula：GuTo consider the uncertainty models of Systematic forest；
Design object, which is to solve for controller C, makes augmentation controlled device internal stability, is the transmission function for inputting w to output z | |
Hzw||∞<1；
Based on side slip angle feed back wire-controlled steering system stability control problem representation be：
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U=Ky
Wherein：Gd(s) (s=1,2,3) is expressed asTo z1、z2And z3Closed loop transfer function,；W1, W2
For weighting function；WdFor interference weighting matrix；z1、z2And z3Exported for the evaluation of system；The disturbance input β of the system*For ideal
Yaw velocity, control input u be front-wheel compensation corner, exogenous disturbances be preferable front wheel angle δf *, lateral wind interference
FvAnd the disturbance torque T on road surfacer；
To carry out the design that μ integrates robust controller, μ integrated approach is the iterative algorithm based on structured singular value, the controller
Control targe be intended to whole closed-loop system and become stable, then：
Wherein：If M (s)=FL(P, C) is the system closed-loop matrix under model-free perturbs, and M is generalized object P and controller C institutes structure
Into lower linear fraction；μ is system architecture singular value；
Singular value μ upper bound property is analyzed, the optimization problem of following formula is solved, generally uses D-K iterative algorithms, it is possible to
Obtain μ and integrate robust controller；
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5. the steering-by-wire control method according to claim 2 based on the Kalman filter that can suppress diverging, its feature
It is：The upper limit of side slip angle is set to βup=tan-1(0.02 μ g), wherein, μ is coefficient of road adhesion, and g accelerates for gravity
Degree.
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| CN110081908A (en) * | 2019-05-07 | 2019-08-02 | 南京理工大学 | A kind of Transfer Alignment filter stability analysis method and device |
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| CN111094109B (en) * | 2017-09-21 | 2023-07-04 | Zf汽车业德国有限公司 | Method for detecting disturbance variables in a steering system, and steering system for a motor vehicle |
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| US20200290671A1 (en) * | 2017-09-21 | 2020-09-17 | Zf Automotive Germany Gmbh | Method for detecting disturbance variables in a steering system, and steering system for a motor vehicle |
| CN107856737B (en) * | 2017-11-06 | 2019-09-13 | 吉林大学 | A kind of man-machine coordination rotating direction control method based on degree of danger variable weight |
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| CN110626420B (en) * | 2018-06-25 | 2022-03-18 | 操纵技术Ip控股公司 | Driver notification using hand-held steering wheel actuator in steer-by-wire system |
| CN110626420A (en) * | 2018-06-25 | 2019-12-31 | 操纵技术Ip控股公司 | Driver notification using hand-held steering wheel actuator in steer-by-wire system |
| CN109455219A (en) * | 2018-09-29 | 2019-03-12 | 合肥工业大学 | A kind of wire-controlled steering system steering wheel with limiting device and limit method |
| CN110081908A (en) * | 2019-05-07 | 2019-08-02 | 南京理工大学 | A kind of Transfer Alignment filter stability analysis method and device |
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| CN110758550A (en) * | 2019-10-11 | 2020-02-07 | 南京航空航天大学 | Energy optimization method of wire-controlled double-motor coupling steering system |
| CN110758550B (en) * | 2019-10-11 | 2021-08-06 | 南京航空航天大学 | Energy optimization method of wire-controlled double-motor coupling steering system |
| CN111017010A (en) * | 2020-01-03 | 2020-04-17 | 南京航空航天大学 | Dual-motor intelligent steer-by-wire system and synchronous control method |
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| CN112298354A (en) * | 2020-12-30 | 2021-02-02 | 成都信息工程大学 | State estimation method for steering wheel and front wheel corner of steering system of unmanned automobile |
| CN112298354B (en) * | 2020-12-30 | 2022-01-28 | 成都信息工程大学 | State estimation method for steering wheel and front wheel corner of steering system of unmanned automobile |
| CN113086000A (en) * | 2021-04-30 | 2021-07-09 | 哈尔滨工业大学 | Fault-tolerant estimation method for rack force of steering-by-wire system |
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