多环模糊控制的线控转向系统转向电机控制研究

Research on steering motor control of steer-by-wire system based on multi-loop fuzzy control

为改善线控转向(SBW)系统在负载强变化工况下前轮转角跟踪控制效果不佳的现状,提出一种针对转向电机的多环自适应模糊控制(MLAFC)方法。以实际信号反馈为参照确定综合判定模糊控制规则,通过动态调整位置环及速度环PI控制参数,实现SBW系统负载突增工况下转角跟踪控制自适应优化。仿真及硬件在环试验结果表明:相较固定参数控制,MLAFC方法能显著提高SBW系统转角跟踪精度和响应速度,并结合低通滤波器解决硬件试验中信号传输离散化导致的模糊控制参数输出抖动问题。

In this paper,a Multi-Loop Adaptive Fuzzy Control(MLAFC)method for steering motor is proposed to rectify the poor tracking control effect of the front wheel angle of Steer-by-Wire(SBW)system under strong load changes.With the reference of the actual signal feedback,the fuzzy control rule of comprehensive decision is determined.By dynamically adjusting the PI control parameters of position loop and speed loop,the adaptive optimization of angle tracking control is achieved under sudden load increase of SBW system.The simulation and hardware-in-the-loop test results show the MLAFC method significantly improves the angle tracking control accuracy and response speed of the SBW system when compared with the fixed parameter control,and with the incorporation of the low-pass filter,it effectively remedies the fuzzy control parameter output jitters caused by signal transmission discretization in the hardware test.