CN115626217B - Tracking control method of wire-controlled steering system - Google Patents

Tracking control method of wire-controlled steering system Download PDF

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Publication number
CN115626217B
CN115626217B CN202211629582.0A CN202211629582A CN115626217B CN 115626217 B CN115626217 B CN 115626217B CN 202211629582 A CN202211629582 A CN 202211629582A CN 115626217 B CN115626217 B CN 115626217B
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steer
wire system
steering
sliding mode
extended state
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CN115626217A (en
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何舒平
石全刚
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Anhui University
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Anhui University
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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
    • 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
    • B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
    • B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
    • B62D5/006—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback power actuated

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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)

Abstract

The invention relates to the technical field of automobile steering, in particular to a tracking control method of a steer-by-wire system, which comprises the steps of establishing a steer-by-wire system model, processing equivalent rotary inertia and equivalent damping coefficients of uncertain parameters to obtain lumped uncertainty, setting a target of an extended state observer as the lumped uncertainty of an estimated steer-by-wire system, designing an extended state observer tracking control algorithm, designing a controller to enable a front wheel steering angle to track a steering wheel command given by a driver, defining a corner tracking error and a fractional order sliding mode surface, obtaining the fractional order sliding mode controller based on the extended state observer, and enabling the fractional order sliding mode controller to meet the gradual stable condition of the steer-by-wire system by constructing a Lyapunov function, so that the system still has good control effect when the system parameters are disturbed or external interference exists.

Description

Tracking control method of wire-controlled steering system
Technical Field
The invention relates to the technical field of automobile steering, in particular to a tracking control method of a wire-controlled steering system.
Background
The automobile steering system is an important component of an automobile, and most of the current steering systems are electric power-assisted steering systems. The electric power steering device directly depends on the motor to provide auxiliary steering power, so that oil consumption is reduced, the power assisting effect is good, driving pressure is relieved for a driver, and driving experience is improved. However, the electric power steering system still does not get rid of the defect of the traditional steering system, namely the electric power steering system occupies a large space of an automobile, so that a line control steering system is designed in the prior art, and the mechanical connection between a steering wheel and wheels is cancelled. On one hand, the space of the automobile is saved, and on the other hand, the safety of the automobile is improved.
Many scientific researchers at home and abroad deeply research the tracking problem of the steering system. Such as PID control methods, to allow the front wheel angular displacement to track the input steering wheel signal. The control method can achieve good steering performance to a certain extent. But if the parameters of the system perturb or there is external disturbance, the control effect is reduced. Therefore, a tracking control method with good control effect when the system parameters fluctuate or external interference exists is needed.
Disclosure of Invention
In view of the above, the present invention provides a tracking control method for a steer-by-wire system, so as to solve the problem that the control effect is reduced when the system has a perturbation in parameters or external interference exists.
Based on the above object, the present invention provides a tracking control method for a steer-by-wire system, comprising:
establishing a steer-by-wire system model;
processing uncertainty parameters in the model to obtain lumped uncertainty;
designing an extended state observer tracking control algorithm, wherein the target of the extended state observer is to estimate the lumped uncertainty of the steer-by-wire system;
designing a controller to enable a steering angle of a front wheel to track a steering wheel command given by a driver, defining a corner tracking error and a fractional order sliding mode surface, and obtaining a fractional order sliding mode controller based on an extended state observer;
and constructing a Lyapunov function to enable the fractional order sliding mode controller to meet the gradual stable condition of the steer-by-wire system.
The steer-by-wire system model uses a second order dynamic equation to express the dynamic characteristics:
Figure DEST_PATH_IMAGE001
，
in the formula (I), the compound is shown in the specification,
Figure DEST_PATH_IMAGE002
is equivalent moment of inertia->
Figure DEST_PATH_IMAGE003
Is an equivalent damping coefficient>
Figure DEST_PATH_IMAGE004
And &>
Figure DEST_PATH_IMAGE005
Are respectively a self-righting moment and a coulomb friction force>
Figure DEST_PATH_IMAGE006
Is the steering ratio, u is the motor torque control output, R>
Figure DEST_PATH_IMAGE007
Is the actual angular displacement of the front wheels of the steer-by-wire system, is greater or less>
Figure DEST_PATH_IMAGE008
Is the actual angular speed of the front wheel of the steer-by-wire system, is greater than or equal to>
Figure DEST_PATH_IMAGE009
Is the actual angular acceleration of the front wheels of the steer-by-wire system.
Preferably, the processing the uncertainty parameters in the model to obtain the lumped uncertainty comprises:
will have uncertainty parameters
Figure 87874DEST_PATH_IMAGE002
And &>
Figure 515444DEST_PATH_IMAGE003
The decomposition is as follows:
Figure DEST_PATH_IMAGE010
/>
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE011
is a nominal portion of equivalent moment of inertia>
Figure DEST_PATH_IMAGE012
Is a perturbation part of the equivalent moment of inertia>
Figure DEST_PATH_IMAGE013
Is a nominal part of the equivalent damping coefficient>
Figure DEST_PATH_IMAGE014
Is the perturbation part of the equivalent damping coefficient;
the state equation of the steer-by-wire system model is as follows:
Figure DEST_PATH_IMAGE015
，
wherein, the first and the second end of the pipe are connected with each other,
Figure DEST_PATH_IMAGE016
is respectively a status variable of the system>
Figure DEST_PATH_IMAGE017
Is the derivative of two state variables of the system,
Figure DEST_PATH_IMAGE018
is the lumped uncertainty.
Preferably, the extended state observer tracking control algorithm is designed to:
Figure DEST_PATH_IMAGE019
wherein, the first and the second end of the pipe are connected with each other,
Figure DEST_PATH_IMAGE020
for a defined auxiliary variable, is>
Figure DEST_PATH_IMAGE021
And &>
Figure DEST_PATH_IMAGE022
Are respectively>
Figure DEST_PATH_IMAGE023
And &>
Figure DEST_PATH_IMAGE024
In combination with an evaluation value of>
Figure DEST_PATH_IMAGE025
And
Figure DEST_PATH_IMAGE026
are respectively>
Figure DEST_PATH_IMAGE027
And &>
Figure 200110DEST_PATH_IMAGE022
Is greater than or equal to>
Figure DEST_PATH_IMAGE028
，/>
Figure DEST_PATH_IMAGE029
And &>
Figure DEST_PATH_IMAGE030
Is the feedback gain that needs to be designed;
assuming lumped perturbation estimation error conditions are
Figure DEST_PATH_IMAGE031
Wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE032
is the upper bound of the estimation error of the lumped perturbation.
Preferably, the steering tracking error is defined as
Figure DEST_PATH_IMAGE033
，
Wherein
Figure DEST_PATH_IMAGE034
Steering wheel commands given to the driver;
the fractional order sliding mode surface is designed as
Figure DEST_PATH_IMAGE035
Wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE036
is->
Figure DEST_PATH_IMAGE037
And &>
Figure DEST_PATH_IMAGE038
Are respectively associated normal number coefficients, <' > or>
Figure DEST_PATH_IMAGE039
Is the derivative order, is greater than or equal to>
Figure DEST_PATH_IMAGE040
Is to be>
Figure DEST_PATH_IMAGE041
An operator of the order derivative;
the fractional order sliding mode controller based on the extended state observer is
Figure DEST_PATH_IMAGE042
Wherein, the first and the second end of the pipe are connected with each other,
Figure DEST_PATH_IMAGE043
and &>
Figure DEST_PATH_IMAGE044
Is a positive number, sign () is a sign function, is>
Figure DEST_PATH_IMAGE045
Is->
Figure DEST_PATH_IMAGE046
The upper bound of (c).
Preferably, the Lyapunov function
Figure DEST_PATH_IMAGE047
The formula of (1) is as follows: />
Figure DEST_PATH_IMAGE048
The invention has the beneficial effects that: the tracking control method comprises the steps of establishing a steer-by-wire system model, processing equivalent rotary inertia and equivalent damping coefficients of uncertainty parameters to obtain lumped uncertainty, setting a target of an extended state observer as the lumped uncertainty of an estimated steer-by-wire system, designing an extended state observer tracking control algorithm, designing a controller to enable a steering angle of a front wheel to track a steering wheel command given by a driver, defining a corner tracking error and a fractional order sliding mode surface, obtaining the fractional order sliding mode controller based on the extended state observer, and enabling the fractional order sliding mode controller to meet the gradual stable condition of the steer-by-wire system by constructing a Lyapunov function, so that the control method can still have a good control effect when system parameters are perturbed or external interference exists.
Drawings
In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a steer-by-wire system according to an embodiment of the present invention;
fig. 2 is a control algorithm schematic diagram of a tracking control method of a steer-by-wire system according to an embodiment of the present invention.
Labeled as:
1. a steering wheel; 2. a steering wheel angle sensor; 3. a road sensing feedback motor; 4. a steering motor; 5. a gear angle sensor; 6. a front wheel; 7. a gear transmission device; 8. a tie rod; 9. a main controller; 10. a steering column; 12. a ball head; 13. a knuckle arm; 14. and a steering transmission shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to specific embodiments below.
It is to be noted that technical terms or scientific terms used herein should have the ordinary meaning as understood by those having ordinary skill in the art to which the present invention belongs, unless otherwise defined. The use of "first," "second," and the like, herein does not denote any order, quantity, or importance, but rather the terms "first," "second," and the like are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
The embodiment of the present specification provides a tracking control method for a steer-by-wire system, which is applied to the steer-by-wire system, for example, the steer-by-wire system includes three main parts, namely, an upper layer steering wheel assembly, a lower layer steering execution assembly part and an ECU control panel, as shown in fig. 1, the upper layer steering wheel assembly mainly includes a steering wheel 1, a steering wheel angle sensor 2, a road feel feedback motor 3 and a steering column 10; the lower steering execution assembly part mainly comprises a steering transmission shaft 14, a steering motor 4, a gear angle sensor 5, a gear transmission device 7, a tie rod 8, a steering knuckle arm 13 and a front wheel 6.
The steering wheel assembly is provided with a steering column 10, the steering wheel 1 is fixed at the upper end of the steering column 10, the steering wheel angle sensor 2 is sleeved on the steering column 10, and the road feel feedback motor 3 is connected to the bottom end of the steering column 10; the steering motor 4 is installed at the top of a steering transmission shaft 14, the gear angle sensor 5 is sleeved in the middle of the steering transmission shaft 14, one end of the gear transmission device 7 is connected with the steering transmission shaft 14, the other end of the gear transmission device is connected with a tie rod 8, two ends of the tie rod 8 are respectively connected with a steering knuckle arm 13 through a ball head 12, and the other end of the steering knuckle arm 13 is connected on a front wheel 6.
The steering wheel angle sensor 2 measures the angle of the steering wheel 1 rotated by a driver and transmits a signal to the inside of the main controller 9, the main controller 9 sends road surface road condition information to the road feel feedback motor 3 in the form of an electric signal, the road feel feedback motor 3 drives the steering column 10 to rotate, the steering wheel 1 also rotates, and the driver feels road conditions on the road surface.
The steering motor 4 receives a steering signal sent by the main controller 9 to make a corresponding action, the steering motor 4 drives the steering transmission shaft 14 to rotate, the steering transmission shaft 14 drives the gear transmission device 7 to operate, the gear transmission device 7 drives the tie rod 8 to move left and right, the tie rod 8 drives the knuckle arm 13 to operate through the ball head 12, and the knuckle arm 13 drives the front wheel 6 to steer. The gear angle sensor 5 measures the steering angle of the gear and transmits the steering angle to the main controller 9, so that a closed loop is formed.
In the steer-by-wire system, a driver input interface (a steering wheel) and an actuating mechanism (a steering wheel) are connected through a steer-by-wire (electronic signal), and then an electric signal command is sent to a steering motor, so that the steering system is controlled. The structure of design like this not only provides more sufficient space for the arrangement of all the other spare parts in the cabin, and the steering column has improved the security to driver's injury when avoiding the vehicle collision moreover. And replace traditional mechanical connection with the mode of electric connection, the front wheel steering action reaction is faster, and is more direct, more slim and graceful than mechanical transmission.
And the steer-by-wire system, because there is not hard connection between steering wheel and steering actuating assembly, so the ground vibrations are only transmitted to the steering wheel rarely, the comfortableness is strong, meanwhile the maneuverability of the driver is strengthened, the steering ratio of the system can be adjusted at will, because there is not hard connection between the wheel rotation angle and the steering wheel, so the wheel rotation angle and the steering wheel rotation angle can be controlled by the system completely.
The tracking control method provided by the embodiment of the specification comprises the following steps:
step 1: model definition and algorithm parameter definition;
the general steer-by-wire system uses a second order dynamic equation to express its dynamic characteristics as follows:
Figure 730798DEST_PATH_IMAGE001
in the formula，
Figure 612167DEST_PATH_IMAGE002
Is equivalent moment of inertia->
Figure 109007DEST_PATH_IMAGE003
Is an equivalent damping coefficient>
Figure 244585DEST_PATH_IMAGE004
And &>
Figure 903099DEST_PATH_IMAGE005
Respectively, self-righting moment and coulomb friction. />
Figure 271763DEST_PATH_IMAGE006
Is the turn ratio. u is the motor torque control output; />
Figure 555983DEST_PATH_IMAGE007
Is the actual angular displacement of the front wheels of the steer-by-wire system, is greater or less>
Figure 326493DEST_PATH_IMAGE008
Is the actual angular speed of the front wheel of the steer-by-wire system, is greater than or equal to>
Figure 155909DEST_PATH_IMAGE009
Is the actual angular acceleration of the front wheels of the steer-by-wire system.
With uncertainty parameter
Figure 11869DEST_PATH_IMAGE002
And &>
Figure 332736DEST_PATH_IMAGE003
The decomposition is as follows:
Figure 692173DEST_PATH_IMAGE010
wherein the content of the first and second substances,
Figure 692490DEST_PATH_IMAGE011
is a nominal portion of equivalent moment of inertia>
Figure 19435DEST_PATH_IMAGE012
Is the perturbation part of the equivalent moment of inertia. />
Figure 661769DEST_PATH_IMAGE013
Is a nominal part of the equivalent damping coefficient>
Figure 141292DEST_PATH_IMAGE014
Is the perturbation part of the equivalent damping coefficient.
The model state equation is as follows:
Figure 578089DEST_PATH_IMAGE015
。
wherein the content of the first and second substances,
Figure 893795DEST_PATH_IMAGE016
respectively, are state variables of the system. />
Figure 808662DEST_PATH_IMAGE017
Is the derivative of two state variables of the system.
Figure 142691DEST_PATH_IMAGE018
Is the lumped uncertainty.
Step 2: and designing a tracking control algorithm of the extended state observer.
Step 2.1 the objective of the extended state observer is: the lumped uncertainty of the steer-by-wire system is estimated. Defining auxiliary variables
Figure 750390DEST_PATH_IMAGE020
The extended state observer is designed as follows:
Figure DEST_PATH_IMAGE049
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE050
and &>
Figure DEST_PATH_IMAGE051
Are respectively>
Figure DEST_PATH_IMAGE052
And &>
Figure 409517DEST_PATH_IMAGE053
An estimate of (d). />
Figure DEST_PATH_IMAGE054
And &>
Figure 596916DEST_PATH_IMAGE055
Are respectively>
Figure 34719DEST_PATH_IMAGE050
And &>
Figure 813319DEST_PATH_IMAGE022
The derivative of (c).
Figure DEST_PATH_IMAGE056
，/>
Figure 821727DEST_PATH_IMAGE057
And &>
Figure DEST_PATH_IMAGE058
Is the feedback gain that needs to be designed.
The estimation error of the lumped perturbation is assumed to have the following condition:
Figure 563549DEST_PATH_IMAGE031
，
wherein, the first and the second end of the pipe are connected with each other,
Figure 606591DEST_PATH_IMAGE032
is a setThe upper bound of the estimation error of the total disturbance is a very small value.
Step 2.2 design controller to make front wheel steering angle follow steering wheel command given by driver
Figure 805360DEST_PATH_IMAGE034
The corner tracking error is defined as follows: />
Figure 566643DEST_PATH_IMAGE033
。
The fractional order sliding mode surface design is as follows:
Figure 892582DEST_PATH_IMAGE059
wherein the content of the first and second substances,
Figure 55710DEST_PATH_IMAGE037
and &>
Figure 923916DEST_PATH_IMAGE038
Are respectively associated normal number coefficients, <' > or>
Figure 438073DEST_PATH_IMAGE039
Is the derivative order (which may be a decimal number). />
Figure DEST_PATH_IMAGE060
Is to ask for
Figure 770966DEST_PATH_IMAGE041
Operator of the second derivative.
The design of the fractional order sliding mode controller based on the extended state observer is as follows:
Figure 37868DEST_PATH_IMAGE042
in the formula (I), the compound is shown in the specification,
Figure 594751DEST_PATH_IMAGE043
and &>
Figure 65047DEST_PATH_IMAGE061
Is a positive number, sign () is a sign function>
Figure 732789DEST_PATH_IMAGE045
Is->
Figure 355662DEST_PATH_IMAGE046
The upper bound of (c) can be expressed by a mathematical expression as: />
Figure DEST_PATH_IMAGE062
。
Constructing a Lyapunov function
Figure 286709DEST_PATH_IMAGE047
And the gradual stable condition is met, as shown in the formula:
Figure 759147DEST_PATH_IMAGE063
the above formula shows that the compound has the advantages of,
Figure DEST_PATH_IMAGE064
is negative. Therefore, the controller is designed to ensure system stability.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to those examples; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.
The present invention is intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalents, improvements, and the like that may be made without departing from the spirit or scope of the present invention are intended to be included within the scope of the present invention.

Claims (1)

1. A tracking control method for a steer-by-wire system, comprising:
establishing a steer-by-wire system model;
processing uncertainty parameters in the model to obtain lumped uncertainty;
designing a tracking control algorithm of the extended state observer, wherein the target of the extended state observer is to estimate the lumped uncertainty of the steer-by-wire system;
designing a controller to enable a steering angle of a front wheel to track a steering wheel command given by a driver, defining a corner tracking error and a fractional order sliding mode surface, and obtaining a fractional order sliding mode controller based on an extended state observer;
constructing a Lyapunov function to enable the fractional order sliding mode controller to meet the gradual stable condition of the steer-by-wire system;
the steer-by-wire system model uses a second order dynamic equation to express the dynamic characteristics:
Figure QLYQS_1
，
in the formula (I), the compound is shown in the specification,
Figure QLYQS_3
is the equivalent moment of inertia->
Figure QLYQS_5
Is an equivalent damping coefficient>
Figure QLYQS_7
And &>
Figure QLYQS_4
Is distinguished by a self-righting moment and a coulomb friction force, respectively>
Figure QLYQS_6
Is the steering ratio, u is the motor torque control output, is greater than>
Figure QLYQS_8
Is the actual angular displacement of the front wheels, in combination with a steer-by-wire system>
Figure QLYQS_9
Is the actual angular speed of the front wheel of the steer-by-wire system, is greater than or equal to>
Figure QLYQS_2
Is the actual angular acceleration of the front wheels of the steer-by-wire system;
the processing of the uncertainty parameters in the model to obtain the lumped uncertainty comprises:
will have uncertainty parameters
Figure QLYQS_10
And &>
Figure QLYQS_11
The decomposition is as follows:
Figure QLYQS_12
wherein the content of the first and second substances,
Figure QLYQS_13
is a nominal fraction of the equivalent moment of inertia>
Figure QLYQS_14
Is a perturbation part of the equivalent moment of inertia>
Figure QLYQS_15
Is a nominal part of the equivalent damping coefficient>
Figure QLYQS_16
Is the perturbation part of the equivalent damping coefficient;
the state equation of the steer-by-wire system model is as follows:
Figure QLYQS_17
，
wherein the content of the first and second substances,
Figure QLYQS_18
is respectively a status variable of the system>
Figure QLYQS_19
Is the derivative of two state variables of the system,
Figure QLYQS_20
is the lumped uncertainty;
the tracking control algorithm of the extended state observer is designed as follows:
Figure QLYQS_21
wherein the content of the first and second substances,
Figure QLYQS_23
for a defined auxiliary variable, is>
Figure QLYQS_26
And &>
Figure QLYQS_29
Are respectively>
Figure QLYQS_25
And &>
Figure QLYQS_28
Is evaluated by the evaluation unit>
Figure QLYQS_31
And &>
Figure QLYQS_33
Are respectively>
Figure QLYQS_22
And &>
Figure QLYQS_27
Is greater than or equal to>
Figure QLYQS_30
，/>
Figure QLYQS_32
And &>
Figure QLYQS_24
Is the feedback gain that needs to be designed;
assuming lumped perturbation estimation error conditions are
Figure QLYQS_34
Wherein, the first and the second end of the pipe are connected with each other,
Figure QLYQS_35
is the upper bound of the estimation error of the lumped perturbation;
steering tracking error is defined as
Figure QLYQS_36
，
Wherein
Figure QLYQS_37
Steering wheel commands given to the driver;
the fractional order sliding mode surface is designed as
Figure QLYQS_38
Wherein, the first and the second end of the pipe are connected with each other,
Figure QLYQS_39
is->
Figure QLYQS_40
And &>
Figure QLYQS_41
Are respectively associated normal number coefficients, <' > or>
Figure QLYQS_42
Is the derivative order, is greater than or equal to>
Figure QLYQS_43
Is to be>
Figure QLYQS_44
An operator of the order derivative;
the fractional order sliding mode controller based on the extended state observer is
Figure QLYQS_45
Wherein the content of the first and second substances,
Figure QLYQS_46
and &>
Figure QLYQS_47
Is a positive number, sign () is a sign function, is>
Figure QLYQS_48
Is->
Figure QLYQS_49
The upper bound of (c);
lyapunov function
Figure QLYQS_50
The formula of (1) is:
Figure QLYQS_51
/>
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