A control strategy based on LQG/LTR theory for steer-by-wire (SBW) system is proposed in this paper. Firstly, the models of the SBW system and the whole vehicle are constructed. econdly, the control strategy of LQG f...A control strategy based on LQG/LTR theory for steer-by-wire (SBW) system is proposed in this paper. Firstly, the models of the SBW system and the whole vehicle are constructed. econdly, the control strategy of LQG for SBW system is proposed, in which the LTR is utilized to eliminate the effect from the Kalman filter. Thirdly, simulations based on the co- simulation platform of MATLAB/Simulink and Carsim are performed with the proposed control strategy to identify its performance. At last, field experiments are conducted to further verify the feasibility of the proposed control strategy in real application. The simulation and experiment results indicate that the proposed control strategy has good stability, robustness and feasibility in real application, and is more effective in practical application of SBW system.展开更多
基金supported by the National Natural Science Foundation of China (Grant No. 51375007)the Fundamental Research Funds for the Central Universities (Grant No. NE2016002)Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems (Grant No.GZKF-201605)
文摘A control strategy based on LQG/LTR theory for steer-by-wire (SBW) system is proposed in this paper. Firstly, the models of the SBW system and the whole vehicle are constructed. econdly, the control strategy of LQG for SBW system is proposed, in which the LTR is utilized to eliminate the effect from the Kalman filter. Thirdly, simulations based on the co- simulation platform of MATLAB/Simulink and Carsim are performed with the proposed control strategy to identify its performance. At last, field experiments are conducted to further verify the feasibility of the proposed control strategy in real application. The simulation and experiment results indicate that the proposed control strategy has good stability, robustness and feasibility in real application, and is more effective in practical application of SBW system.
