基于自抗扰技术的汽车变传动比转向控制

Vehicle variable ratio steering control based on active disturbance rejection technology

针对汽车定传动比转向特性存在的不足,提出用前馈和自抗扰反馈的汽车转向变传动比控制算法,实现汽车主动前轮转向。设计了前馈控制器和自抗扰反馈控制器,前馈控制器实现汽车转向传动比随车速在12-24之间变化,自抗扰反馈控制器跟踪理想参考横摆角速度。建立车辆闭环控制模型,控制Car Sim车辆模型进行双移线、转向盘角阶跃输入和对开路面试验,并与PID控制仿真结果进行对比。仿真试验结果表明,所设计的前馈和反馈控制器实现了变传动比转向控制,车辆路径跟踪性能好、响应超调量小、响应时间短以及抗干扰能力强,且各项性能优于PID控制,改善了汽车操纵稳定性。

Aiming at the shortages of steering characteristics of a vehicle with an invariable steering ratio,a control algorithm of the feedforward and active disturbance rejection feedback is proposed for the active front steering( AFS) of a vehicle. Feedforward controller and active disturbance rejection feedback controller( ADRFC) are designed. A variable steering ratio from 12 to 24 is realized by a feedforward controller,and desired yaw rate is tracked by ADRFC. The closed-loop control model of a vehicle is established to control a Car Sim vehicle model to carry out the double lane change test,steering wheel angle step input test and μ-split test,and simulation results are compared with the PID control. The simulating results show that the designed controllers can implement variable ratio steering,and the vehicle has good tracking performance,small response overshoot,short response time and strong disturbance rejection,and various performance are better than the PID control,and controllability and stability are improved.