基于ESO与NTSM的汽车主动前轮转向控制

Design of ESO and NTSM Controller for Vehicle Active Front Steering

提出基于扩张状态观测器(Extended state observer,ESO)与非奇异终端滑模(Nonsingular terminal sliding mode,NTSM)的车辆主动前轮转向控制。首先建立二自由度车辆模型计算车辆理想参考横摆角速度。其次以二自由度模型为基础设计扩张状态观测器与非奇异终端滑模控制器,扩张状态观测器能估计车辆状态与扰动,非奇异终端滑模控制器能对扰动进行补偿并输出控制量。最后在Matlab/Simlink中建立了扩张状态观测器与非奇异终端滑模控制器,采用CarSim非线性车辆模型进行仿真试验,研究了NTSM与PID控制器的闭环控制性能以及鲁棒性,并对两种控制器试验结果进行对比。结果表明,非奇异终端滑模控制的车主动前轮转向系统能有效改善车辆的操纵稳定性,控制器具有强抗干扰能力、良好的路径跟踪性能和鲁棒性,且优于PID控制器。

Vehicle active front steering(AFS)control based on extended state observer(ESO)and nonsingular terminal sliding mode(NTSM)control is proposed.First,a two degree of freedom(2-DOF)vehicle model is introduced in order to calculate the desired yaw rate.Then,ESO and NTSM controller are designed based on 2-DOF.The ESO can estimate the vehicle state and disturbance.The NTSM controller can compensate the disturbance and output a control.Finally,ESO and NTSM controller are established in Matlab/Simlink,and CarSim the nonlinear vehicle model is controlled to simulate.Closed-loop control performance and robustness of NTSM and PID controller are studied.The test results of two kinds of controller are compared.The results show that the NTSM control of vehicle AFS system can effectively improve the controllability and stability of vehicle.The controller has strong anti-disturbance ability,good tracking performance and robustness,which is better than PID controller.