电液耦合转向系统转向盘转矩的自抗扰控制

Active Disturbance Rejection Control of Steering Wheel Torque in Integrated Electric⁃Hydraulic Steering System

为解决商用车电液耦合转向系统由于非线性、参数时变和外界干扰等因素造成的路感差的问题,提出了以理想转向盘转矩为目标的电液耦合转向系统自抗扰控制(ADRC)策略。在分析结构原理的基础上建立了系统的数学模型,针对商用车转向性能需求确定了基于车速和侧向加速度的驾驶员理想转向盘转矩,以此为目标采用自抗扰控制进行目标手力的跟踪。通过施加不同的干扰与PID控制对比仿真,结果表明设计的ADRC控制算法能很好地跟踪转向盘转矩,且具有更高的抗干扰能力,有效地提高了转向盘转矩闭环跟踪控制的鲁棒性。

Aiming at the poor road feel of integrated electro⁃hydraulic steering(IEHS)system in commer⁃cial vehicles caused by nonlinearity,time⁃varying parameters and exterior interference etc.,an active disturbance rejection control(ADRC)strategy for IEHS system is proposed with the ideal steering wheel torque as the target.On the basis of analyzing structure principle,a mathematical model for the system is built,and according to the steer⁃ing performance requirements of commercial vehicles,the ideal steering wheel torque of driver is determined based on the speed and lateral acceleration,and with which as the control target,the ADRC control is adopted to track the target hand force.A comparative simulation on the proposed strategy with different disturbances applied and PID control is conducted.The results show that the ADRC algorithm proposed can well track the steering wheel torque with higher disturbance resistance capability than PID control,so effectively enhancing the robustness of closed⁃loop tracking control for steering wheel torque.