Model-Matching-Control of a Redundantly Actuated Steer-by-Wire-System

2020 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2020-08-01 DOI:10.1109/CCTA41146.2020.9206283

Volker Ewald, U. Konigorski

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引用次数: 1

Abstract

Steer-by-Wire (sbw) systems gain new importance with regard to autonomous driving since a permanently rotating steering wheel is undesired in such a vehicle. In addition, redundancies in the vehicle steering system must be provided for autonomous vehicles, which have been seen as an obstacle for sbw-systems until now. In this article, a control concept for redundantly actuated sbw-systems is presented. For this purpose, the mechanical model of a redundantly actuated sbw is described, in which the actuators of the steering are elastically connected to each other. Also a linear model of a conventional hydraulic power steering (hps) is derived as reference model, to describe the desired dynamic behavior of the controlled system. A dynamic model-matching controller based on norm minimization is designed to match the dynamics of the sbw-system to the dynamics of the hps-model. Finally, the characteristics of the controlled system are analysed. The controlled system matches the reference system in the relevant frequency range and shows the desired behavior on the test bed.

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冗余驱动线控转向系统的模型匹配控制

线控转向(sbw)系统在自动驾驶方面具有新的重要性，因为此类车辆不希望永久旋转的方向盘。此外，自动驾驶汽车必须提供车辆转向系统的冗余，这一直被视为sbw系统的障碍。在本文中，提出了冗余驱动sbw系统的控制概念。为此，描述了一个冗余驱动sbw的力学模型，其中转向的致动器彼此弹性连接。同时，推导了传统液压助力转向系统的线性模型作为参考模型，以描述被控系统的期望动态特性。设计了一种基于范数最小化的动态模型匹配控制器，实现了sbw系统的动态与hps模型的动态匹配。最后对被控系统的特性进行了分析。被控系统在相关频率范围内与参考系统相匹配，并在试验台上显示出期望的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2020 IEEE Conference on Control Technology and Applications (CCTA)

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