Improved sliding mode extension control of vehicle active front wheel steering based on extended state observer

Yuang Huang, You-qun Zhao, Junzhu Wang, Fen Lin
{"title":"Improved sliding mode extension control of vehicle active front wheel steering based on extended state observer","authors":"Yuang Huang, You-qun Zhao, Junzhu Wang, Fen Lin","doi":"10.1177/09544070231210565","DOIUrl":null,"url":null,"abstract":"In order to improve the handling stability of electric vehicles, a new active front-wheel steering (AFS) control method was proposed. Firstly, parametric uncertainty and external interference in vehicle dynamics are summarized as a nonlinear interference term in vehicle model. An extended state observer (ESO) is designed to observe and compensate the nonlinear interference terms in real time, so as to improve the accuracy and control effect of the model. Secondly, in order to further increase the convergence speed and effectively suppress the chattering phenomenon in sliding mode control without affecting its robustness and reaching speed, an integral exponential fast terminal sliding mode controller (IEFTSMC) based on fast exponential reaching law (FERL) is designed. The problem that the control effect of some regions becomes worse when a single control algorithm is used for global region control in traditional AFS control is addressed. By combining extension theory with sliding mode control method, an improved sliding mode extension control is designed to improve the effect of AFS global control. Finally, comparative simulation tests are carried out on the CarSim/Simulink co-simulation platform. The results show that compared with the traditional FTSMC, the improved sliding mode extension control method based on ESO can not only suppress chattering more effectively, but also smoother the response curve. It also has good control effect when there is external disturbance. The effectiveness and robustness of the control strategy are verified.","PeriodicalId":509770,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2024-01-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1177/09544070231210565","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

Abstract

In order to improve the handling stability of electric vehicles, a new active front-wheel steering (AFS) control method was proposed. Firstly, parametric uncertainty and external interference in vehicle dynamics are summarized as a nonlinear interference term in vehicle model. An extended state observer (ESO) is designed to observe and compensate the nonlinear interference terms in real time, so as to improve the accuracy and control effect of the model. Secondly, in order to further increase the convergence speed and effectively suppress the chattering phenomenon in sliding mode control without affecting its robustness and reaching speed, an integral exponential fast terminal sliding mode controller (IEFTSMC) based on fast exponential reaching law (FERL) is designed. The problem that the control effect of some regions becomes worse when a single control algorithm is used for global region control in traditional AFS control is addressed. By combining extension theory with sliding mode control method, an improved sliding mode extension control is designed to improve the effect of AFS global control. Finally, comparative simulation tests are carried out on the CarSim/Simulink co-simulation platform. The results show that compared with the traditional FTSMC, the improved sliding mode extension control method based on ESO can not only suppress chattering more effectively, but also smoother the response curve. It also has good control effect when there is external disturbance. The effectiveness and robustness of the control strategy are verified.
基于扩展状态观测器的车辆主动前轮转向改进型滑动模式扩展控制
为了提高电动汽车的操纵稳定性,提出了一种新的主动前轮转向(AFS)控制方法。首先,车辆动力学中的参数不确定性和外部干扰被归纳为车辆模型中的非线性干扰项。设计了一种扩展状态观测器(ESO)来实时观测和补偿非线性干扰项,从而提高模型的精度和控制效果。其次,为了进一步提高收敛速度,在不影响滑模控制鲁棒性和达到速度的前提下有效抑制滑模控制中的颤振现象,设计了基于快速指数达到律(FERL)的积分指数快速终端滑模控制器(IEFTSMC)。解决了传统 AFS 控制中采用单一控制算法进行全局区域控制时,部分区域控制效果变差的问题。通过将扩展理论与滑模控制方法相结合,设计了一种改进的滑模扩展控制,以改善 AFS 全局控制的效果。最后,在 CarSim/Simulink 协同仿真平台上进行了对比仿真测试。结果表明,与传统的 FTSMC 相比,基于 ESO 的改进型滑模扩展控制方法不仅能更有效地抑制颤振,还能使响应曲线更加平滑。当存在外部扰动时,它也具有良好的控制效果。该控制策略的有效性和鲁棒性得到了验证。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信