CN115923773A - Method for controlling stability of wire-controlled four-wheel steering vehicle - Google Patents
Method for controlling stability of wire-controlled four-wheel steering vehicle Download PDFInfo
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Abstract
The invention discloses a method for controlling the stability of a wire-controlled four-wheel steering vehicle, and belongs to the field of vehicle steering control. The method comprises the steps that collected vehicle yaw rate signals and ideal yaw rate serve as input signals of an active disturbance rejection controller, tracking of the ideal yaw rate serves as a target, and an additional front wheel turning angle required for ensuring yaw rate tracking is obtained through calculation and used for compensating a front wheel turning angle; and (3) taking the collected centroid slip angle deviation amount as an input signal of a rear wheel steering controller, and outputting a rear wheel steering angle by calculating with the zero centroid slip angle as a target. The invention can simultaneously ensure the tracking of the yaw angular velocity and the zero of the centroid slip angle, improve the stability of the vehicle in the steering process, and can be applied to the control of the stability of the four-wheel steering vehicle.
Description
Technical Field
The invention belongs to the technical field of vehicle steering control, and particularly relates to a steer-by-wire vehicle stability controller based on active disturbance rejection control and PID control.
Background
The steering-by-Wire (SBW) system cancels partial mechanical connection between a steering wheel and a steering wheel, gets rid of various limitations of the traditional steering system, and is beneficial to further improving the maneuverability, the comfort and the safety of the automobile. Four-wheel Steering (Four Wheels Steering,4 WS) is a novel independent Steering technology, and can independently control the rotation angle of each wheel of a vehicle, so that the Steering stability of the vehicle is improved.
At present, the control stability of the vehicle is improved mainly based on methods such as PID control, fuzzy control, sliding mode control, neural network control, robust H-infinity control and the like. Because the freedom degree of the design of the automobile steer-by-wire is higher, a stricter requirement is provided for the control strategy of the automobile active steering, and the traditional PID control and the sliding mode control are difficult to meet the requirement of the active steering stability control and are not enough to process model uncertainty and system disturbance.
Active Disturbance Rejection Control (ADRC) is a Control strategy that extends from the idea of "error-based error cancellation" Control theory. Different from the model theory, the method is completely independent of the mathematical model of the controlled object, and has the most prominent characteristic that the action of all uncertain factors acting on the controlled object is reduced to unknown disturbance, the action rule of the disturbance is not required to be known, and the input and output data of the controlled object are used for estimating the controlled object in real time and compensating the controlled object. The active disturbance rejection control has the characteristics of high response speed, short stabilization time, strong disturbance rejection capability, simple algorithm and convenience for engineering realization, and is widely applied to the field of engineering control.
At present, a plurality of methods for solving the stability of a four-wheel steering vehicle in the steering process are available, the feedback of yaw angular velocity is generally considered, the feedback of centroid slip angle is also considered, the main aim is to control the yaw angular velocity of the vehicle to reach an expected standard by combining the application of some control algorithms and feedback quantity, the centroid slip angle output by the finally controlled vehicle is not ensured too much, and the stability of the vehicle in the steering process is to be improved.
Disclosure of Invention
The invention aims to provide a method for controlling the stability of a steer-by-wire four-wheel steering vehicle, which is used for improving the stability of the four-wheel steering vehicle in the steering process.
In order to solve the technical problems, the yaw angular velocity and the mass center side slip angle of the vehicle are respectively controlled, so that the yaw angular velocity tracking of the controlled vehicle can be ensured, the mass center side slip angle of the controlled vehicle can be ensured to be closer to zero, the stability of the vehicle in the steering process can be better improved, and better driving experience is provided for a driver. The invention adopts the following specific technical scheme.
A method for controlling the stability of a vehicle through wire-controlled four-wheel steering is characterized by being based on active disturbance rejection control and PID control and specifically comprising the following steps of:
Wherein the content of the first and second substances,
L f is the distance from the center of mass to the front axle, L r Is the distance from the center of mass to the rear axle of the automobile, m is the mass of the automobile, C f Cornering stiffness of the front wheel, C r For the tire cornering stiffness of the rear wheel, i is the steering wheel angle delta sw Angle delta with front wheel of automobile f The ideal angle transmission ratio of the two-phase motor,
for the gain of the steady state yaw rate of the vehicle, the gain of the steady state yaw rate of the vehicle is about 0.16-0.33 s -1 ；
Step 2, collecting the vehicle yaw velocity gamma, and collecting the vehicle yaw velocity signal gamma and the ideal yaw velocity gamma d As input signal to the active disturbance rejection controller to track the desired yaw rate gamma d For the control target, the output quantity u of the active disturbance rejection controller is calculated and used as an additional front wheel corner delta f Adding the front wheel angle delta f Angle delta from initial front wheel f The sum being a new front wheel steering angle delta fz Output to the controlled vehicle, thereby enabling the yaw rate gamma of the vehicle to better track the ideal yaw rate gamma of the vehicle d ；
Step 3, collecting the centroid slip angle beta and the ideal centroid slip angle beta d The deviation value of the rear wheel steering angle controller is used as the input value of the rear wheel steering angle controller, the zero mass center side deviation angle is used as the target, and the output value c (t) of the rear wheel steering angle controller is obtained through calculation and is used as the rear wheel steering angle delta r The rear wheel steering controller adopts a PID controller;
step 4, outputting the additional front wheel turning angle delta output by the active disturbance rejection controller f Front wheel angle delta with output of feedforward controller f Sum delta fz The new front wheel steering angle is output to the controlled vehicle, and the rear wheel steering angle delta output by the PID controller is simultaneously output r And outputting the data to the controlled vehicle.
The construction method of the active disturbance rejection controller comprises the design of a steepest tracking differentiator TD, the design of an extended state observer ESO and the design of a feedback control law; the differentiator TD has the function of setting a transition for a given signal and extracting the differentiated value of the signal; the ESO is the key in the active disturbance rejection technology, can observe state variables and estimated values of various derivatives thereof, and can estimate and compensate system disturbance; NLSEF combines TD and ESO output nonlinearly, and combines disturbance compensation to form the control quantity of the system.
The design of the steepest tracking differentiator TD is as follows:
the input of the steepest tracking differentiator TD module is v, the output is v 1 And v 2 (ii) a v is the desired signal value, v 1 A tracking value, v, representing a desired signal v 2 Representing an estimate of the differential of the desired signal v;
a closed-loop control system using the yaw rate as a feedback signal;
if an active disturbance rejection control strategy is used, the desired signal value v represents the ideal yaw rate γ d ；
The fastest control comprehensive function fhan function is a core function of a tracking differentiator TD in an ADRC (active disturbance rejection controller), so that a state variable can quickly track the input of an upper system, and the fhan function is defined as follows:
let fsg (x, d) = (sign (x + d) -sign (x-d))/2
Then function fhan (x) 1 ,x 2 R, d) can be represented as
r 0 Representing a velocity factor, determining a tracking velocity; h is 0 In order to track the filtering factor of the differentiator, when the integration step length h is determined, expanding the filtering factor is an effective means for enhancing the filtering effect.
The extended state observer, ESO, is designed as follows:
the input of the ESO module of the extended state observer is y, and the system control quantity u and the system proportion parameter b 0 Is the product of, the output is z 1 、z 2 And z 3 (ii) a y is the output value of the controlled object, i.e. the feedback value of the control system, z 1 Is an estimate of y, z 2 Is an estimate of the differential of y, z 3 The estimated value of the overall disturbance of the controlled vehicle caused by internal and external factors is obtained;
a closed-loop control system using the yaw rate as a feedback signal, wherein the output value y of the controlled object represents an actual yaw angle γ if an active disturbance rejection control strategy is used;
wherein e is an observation error, β 1 ，β 2 ，β 3 To extend the adjustable parameters of the state observer, h is the step length of the system, b 0 Is a proportional parameter of the system, u is a control quantity of the system, fe 1 Is a system intermediate variable;
the fal function is defined as follows:
where sign (x) is a sign function:
the fal function is a special nonlinear structure and is a core part of an ESO (extended state observer) in the active disturbance rejection controller; the ESO can obtain the estimated value of all the states of the system by utilizing a fal function of a nonlinear structure and then selecting observer parameters.
The feedback control law is designed as follows:
the feedback control law module carries out nonlinear combination on the outputs of the TD module and the ESO module to obtain a nonlinear state error feedback output quantity u 0 ；
v 1 ，v 2 A transition process for first order tracking differentiator output; z is a radical of 1 ，z 2 Is the output of the extended state observer; c, r 1 ，h 1 Is an adjustable parameter of the nonlinear error feedback law.
The disturbance compensation process is designed as follows: the disturbance compensation process feeds back the nonlinear state error to an output quantity u 0 The control quantity of the system is formed by combining disturbance compensation;
u＝u 0 -z 3 /b 0
u is a control quantity input to a control object after disturbance compensation, and corresponds to an additional front wheel corner delta f 。
The invention has the beneficial effect. According to the method, an acquired vehicle yaw rate signal and an ideal yaw rate are used as input signals of an active disturbance rejection controller, tracking of the ideal yaw rate is used as a target, an additional front wheel corner required for ensuring yaw rate tracking is obtained through calculation, and the sum of the additional front wheel corner and an initial front wheel corner is used as a new vehicle front wheel corner to be output to a controlled vehicle; and (3) taking the acquired centroid slip angle deviation as an input signal of a rear wheel steering angle controller, and calculating and outputting a rear wheel steering angle by taking the zero centroid slip angle as a target. The invention can simultaneously ensure the tracking of the yaw angular speed and the approach of the centroid slip angle to zero, and improves the stability of the vehicle in the steering process.
Drawings
FIG. 1 is a logic block diagram of a four-wheel steer-by-wire control system of the present invention;
FIG. 2 is a block diagram of an active disturbance rejection controller;
fig. 3 is a block diagram of a PID controller.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention.
The overall control logic of the four-wheel steer-by-wire system is shown in fig. 1, and specifically comprises the following steps:
firstly, a sensor collects the vehicle speed and the steering wheel angle information as the input signal of a feedforward controller to calculate the front wheel angle delta of the four-wheel steer-by-wire vehicle f 。
Then, a vehicle yaw rate signal gamma is collected and output to the ADRC control module to track the desired yaw rate gamma d An additional front wheel steering angle delta is calculated for the control target f And is used to correct the yaw rate γ of the vehicle.
Simultaneously collecting the centroid slip angle beta and the ideal centroid slip angle beta d The deviation value of the rear wheel steering angle controller is used as the input value of the rear wheel steering angle controller, the zero mass center side deviation angle is used as the target, and the rear wheel steering angle delta is calculated and output r . The rear wheel steering controller adopts a PID controller, the control block diagram of the rear wheel steering controller is shown in FIG. 3, and the controller input r (t) represents the actual barycenter slip angle beta and the ideal barycenter slip angle beta of the controlled vehicle outputAngle beta d The output c (t) represents the rear wheel turning angle delta r . The operation formula of the PID controller is
The parameter of the controller during the simulation is k p ＝10，k i ＝80，k d ＝0.1。
Finally, the additional front wheel turning angle delta output by the active disturbance rejection controller f Front wheel angle delta with output of feedforward controller f Sum delta fz The new front wheel steering angle is output to the controlled vehicle, and the rear wheel steering angle delta output by the PID controller is simultaneously output r And outputting the data to the controlled vehicle.
The front wheel steering controller is controlled by adopting an ADRC controller, and the ADRC controller consists of 3 parts: a Tracking Differentiator (TD), an Extended State Observer (ESO), and a Nonlinear State Error Feedback Control law (NLSEF). The control block diagram of ADRC is shown in fig. 2, where TD has the role of setting the transition for a given signal and extracting the differential value of the signal; the ESO is the key in the active disturbance rejection technology, can observe state variables and estimation values of derivatives of the state variables, and can estimate and compensate system disturbance; NLSEF combines TD and ESO output nonlinearly, and combines disturbance compensation to form the control quantity of the system. The design steps of the active disturbance rejection controller are as follows:
design of the steepest tracking differentiator TD:
the input of the steepest tracking differentiator module is v, and the output is v 1 And v 2 . v is the desired signal value, v 1 A tracking value, v, representing a desired signal v 2 Representing an estimate of the differential of the desired signal v.
The content of the present invention is a closed-loop control system using a yaw rate as a feedback signal, and when an active disturbance rejection control strategy is used, the desired signal value v represents an ideal yaw rate γ d 。
In the formula, r 0 Representing a velocity factor, determining a tracking velocity; parameter h 0 In order to track the filtering factor of the differentiator, when the integration step length h is determined, expanding the filtering factor is an effective means for enhancing the filtering effect.
Let fsg (x, d) = (sign (x + d) -sign (x-d))/2
Then u = fhan (x) 1 ,x 2 R, d) is represented as
Design of extended state observer, ESO:
the input of the extended state observer module is y and the product of the system control quantity u and the system proportional parameter b0, and the output is z 1 、z 2 And z 3 . y is the output value of the controlled object, i.e. the feedback value of the control system, z 1 Is an estimate of y, z 2 Is an estimate of the differential of y, z 3 Is an estimation value of the overall disturbance of the controlled object caused by internal and external factors.
The content of the present invention is a closed-loop control system using a yaw rate as a feedback signal, and when an active disturbance rejection control strategy is used, the output value y of the controlled object indicates the actual yaw angle γ.
Wherein e is an observation error, β 1 ，β 2 ，β 3 To extend the adjustable parameters of the state observer, h is the step length of the system, b 0 Is a proportional parameter of the system, u is a control quantity of the system, fe 1 Is a system intermediate variable.
Wherein the content of the first and second substances,
where sign (x) is a sign function:
designing a feedback control law:
the feedback control law module carries out nonlinear combination on the outputs of the TD module and the ESO module to obtain nonlinear state error feedback output quantity u 0。
In the formula, v 1 ，v 2 For first order tracking of the transition of the differentiator output, z 1 ，z 2 To expand the output of the state observer, c, r 1 ，h 1 Is an adjustable parameter of the nonlinear error feedback law.
And (3) disturbance compensation process:
the process feeds back the nonlinear state error to the output quantity u 0 And the control quantity of the system is formed by combining the disturbance compensation.
u＝u 0 -z 3 /b 0
Wherein u is a control quantity input to a controlled object after disturbance compensation, and corresponds to an additional front wheel rotation angle delta f 。
In order to verify the control method for the stability of the four-wheel steering-by-wire vehicle based on active disturbance rejection control and PID control, a simulation experiment for the control of the stability of the four-wheel steering-by-wire vehicle is carried out on a MATLAB/Simulink platform. The controller parameters are shown in table 1.
TABLE 1 auto-disturbance rejection controller parameters
The above embodiments are provided to illustrate the design concepts and features of the present invention, which can be understood by those skilled in the art.
Claims (6)
1. A method for controlling the stability of a vehicle through wire-controlled four-wheel steering is characterized by being based on active disturbance rejection control and PID control and specifically comprising the following steps of:
step 1, collecting speed V and steering wheel angle information delta of controlled vehicle by using sensor sw Calculating the front wheel steering angle delta of the four-wheel steer-by-wire vehicle as the input signal of the feedforward controller f ；
Wherein the content of the first and second substances,
L f is the distance from the center of mass to the front axle, L r Is the distance from the center of mass to the rear axle of the automobile, m is the mass of the automobile, C f Cornering stiffness of the front wheel, C r For the tire cornering stiffness of the rear wheel, i is the steering wheel angle delta sw Angle delta with front wheel of automobile f The ideal angle transmission ratio of the two-phase motor,
for the gain of the steady state yaw rate of the vehicle, the gain of the steady state yaw rate of the vehicle is about 0.16-0.33 s -1 ；
Step 2, collecting the vehicle yaw velocity gamma, and collecting the vehicle yaw velocity signal gamma and the ideal yaw velocity gamma d As input signal to the active disturbance rejection controller to track the desired yaw rate gamma d The output u of the active disturbance rejection controller is calculated to be used as an additional front wheel turning angle delta for controlling the target f Adding the front wheel angle delta f Angle delta from initial front wheel f The sum being a new front wheel steering angle delta fz Output to the controlled vehicle, thereby leading the yaw rate gamma of the vehicle to better followIdeal yaw rate gamma of a tracked vehicle d ；
Step 3, collecting the centroid slip angle beta and the ideal centroid slip angle beta d The deviation value of the rear wheel steering angle controller is used as the input value of the rear wheel steering angle controller, the zero mass center side deviation angle is used as the target, and the output value c (t) of the rear wheel steering angle controller is obtained through calculation and is used as the rear wheel steering angle delta r The rear wheel steering controller adopts a PID controller;
step 4, outputting the additional front wheel turning angle delta output by the active disturbance rejection controller f Front wheel angle delta with output of feedforward controller f Sum delta fz The new front wheel steering angle is output to the controlled vehicle, and the rear wheel steering angle delta output by the PID controller is simultaneously output r And outputting the data to the controlled vehicle.
2. A steer-by-wire vehicle stability control method according to claim 1, wherein said active disturbance rejection controller construction method comprises design of a steepest tracking differentiator TD, design of an extended state observer ESO and design of a feedback control law; the differentiator TD has the function of setting a transition for a given signal and extracting the differentiated value of the signal; the ESO is the key in the active disturbance rejection technology, can observe state variables and estimation values of derivatives of the state variables, and can estimate and compensate system disturbance; NLSEF combines TD and ESO output nonlinearly, and combines disturbance compensation to form the control quantity of the system.
3. A method for controlling the stability of a steer-by-wire four-wheel vehicle according to claim 2, wherein said steepest tracking differentiator TD is designed as follows:
the input of the steepest tracking differentiator TD module is v, and the output is v 1 And v 2 (ii) a v is the desired signal value, v 1 A tracking value, v, representing a desired signal v 2 An estimate value representing a differential of the desired signal v;
a closed-loop control system using the yaw rate as a feedback signal;
if an active disturbance rejection control strategy is used, the desired signal value v represents the ideal yaw rate γ d ；
The fastest control comprehensive function fhan function is a core function of a tracking differentiator TD in an ADRC (active disturbance rejection controller), so that a state variable can quickly track the input of an upper system, and the fhan function is defined as follows:
let fsg (x, d) = (sign (x + d) -sign (x-d))/2
Then function fhan (x) 1 ,x 2 R, d) can be represented as
r 0 Representing a velocity factor, determining a tracking velocity; h is 0 In order to track the filtering factor of the differentiator, when the integration step length h is determined, expanding the filtering factor is an effective means for enhancing the filtering effect.
4. A steer-by-wire four-wheel vehicle stability control method according to claim 2, wherein said extended state observer, ESO, is designed as follows:
the input of the ESO module of the extended state observer is y, and the system control quantity u and the system proportion parameter b 0 Is the product of, the output is z 1 、z 2 And z 3 (ii) a y is the output value of the controlled object, i.e. the feedback value of the control system, z 1 Is an estimate of y, z 2 Is an estimate of the differential of y, z 3 The estimated value of the overall disturbance of the controlled vehicle caused by internal and external factors is obtained;
a closed-loop control system using the yaw rate as a feedback signal, wherein the output value y of the controlled object represents an actual yaw angle γ if an active disturbance rejection control strategy is used;
wherein e is an observation error, β 1 ，β 2 ，β 3 To extend the adjustable parameters of the state observer, h is the step length of the system, b 0 Is a proportional parameter of the system, u is a control quantity of the system, fe 1 Is a system intermediate variable;
the fal function is defined as follows:
where sign (x) is a sign function:
the fal function is a special nonlinear structure and is a core part of an ESO (extended state observer) in the active disturbance rejection controller; the ESO can obtain the estimated value of all the states of the system by utilizing a fal function of a nonlinear structure and then selecting observer parameters.
5. A method of controlling the stability of a steer-by-wire four-wheel vehicle according to claim 2, wherein said feedback control law is designed as follows:
the feedback control law module carries out nonlinear combination on the outputs of the TD module and the ESO module to obtain a nonlinear state error feedback output quantity u 0 ；
v 1 ，v 2 A transition process for first order tracking differentiator output; z is a radical of 1 ，z 2 Is the output of the extended state observer; c, r 1 ，h 1 Is an adjustable parameter of the nonlinear error feedback law.
6. According to claimA method for controlling stability of a steer-by-wire four-wheel vehicle as recited in claim 2, wherein said disturbance compensation process is designed as follows: the disturbance compensation process feeds back the nonlinear state error to an output quantity u 0 The control quantity of the system is formed by combining disturbance compensation;
u＝u 0 -z 3 b 0
u is a control quantity input to a control object after disturbance compensation, and corresponds to an additional front wheel turning angle delta f 。
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| CN115877747A (en) * | 2022-09-16 | 2023-03-31 | 杭州世宝汽车方向机有限公司 | Electro-hydraulic coupling steer-by-wire system and design method of corner tracking controller thereof |
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| CN115877747A (en) * | 2022-09-16 | 2023-03-31 | 杭州世宝汽车方向机有限公司 | Electro-hydraulic coupling steer-by-wire system and design method of corner tracking controller thereof |
| CN115877747B (en) * | 2022-09-16 | 2023-10-17 | 杭州世宝汽车方向机有限公司 | Electrohydraulic coupling steer-by-wire system and design method of steering angle tracking controller thereof |
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