High-performance steering tracking control of open circuit variable-speed pump-controlled steering system for heavy-duty vehicles based on flow nonlinearity compensation

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2024-04-27 DOI:10.1177/09544070241245176

Xiezhao Lin, Jun Xu, Jianchao Yu, Xiaolong Zhang, Yulan Zheng, Su Li, Heng Du

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Abstract

Heavy-duty vehicles with long bodies, a large number of axles and large loads are subject to increasingly high requirements for precise steering technology due to the increasing trend toward energy conservation and intelligent assisted driving as well as variable driving conditions. In this paper, an energy-efficient open circuit variable-speed pump-controlled steering system (OPCEHSSS) adapted for heavy loads is used, but its strong flow output nonlinearity and system nonlinear dynamic behavior greatly impede the steering performance. Therefore, in order to reduce the influence of the flow leakage of the fixed-displacement pump on the system and to ensure that the flow output of the system matches the control model, a mapping model based on the fitting of a two-layer neural network algorithm with a dynamic real-time compensation strategy (FNC) is proposed. In addition, considering the strong robustness of the system even under parameter uncertainty and unknown disturbance, a complex nonlinear mathematical model is established based on OPCEHSSS physical characteristics, and a dual-objective control strategy of steering angle and pressure based on sliding mode control (SMC) is proposed. However, in order to reduce the influence of high-order switching discontinuity on the steering and ensure the fast convergence of the control system, a fast super twisting algorithm (STA) based on double saturation function of the boundary layer is proposed. The experimental results show that the three different controllers can effectively reduce the steering angle error after the introduction of FNC. And in the case of a single axle loaded with 6 tons, the improved new FNC+STA integrated dual-objective control strategy improves the accuracy by 53.16% compared with PID and 40.67% compared with SMC. The steady-state error is maintained within 0.9°, realizing the high-performance steering tracking control of OPCEHSSS for heavy vehicles.

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基于流量非线性补偿的重型车辆开路变速泵控转向系统的高性能转向跟踪控制

重型车辆车身长、轴数多、载荷大，随着节能和智能辅助驾驶趋势的增强以及驾驶条件的多变，对精确转向技术的要求也越来越高。本文采用了一种适用于重载的节能型开路变速泵控转向系统（OPCEHSSS），但其强大的流量输出非线性和系统非线性动态行为极大地影响了转向性能。因此，为了减少定量泵的流量泄漏对系统的影响，确保系统的流量输出与控制模型相匹配，提出了一种基于双层神经网络算法拟合的映射模型，并采用动态实时补偿策略（FNC）。此外，考虑到系统在参数不确定性和未知干扰下仍具有很强的鲁棒性，根据 OPCEHSSS 的物理特性建立了复杂的非线性数学模型，并提出了基于滑模控制（SMC）的转向角和压力双目标控制策略。然而，为了降低高阶开关不连续性对转向的影响，保证控制系统的快速收敛，提出了基于边界层双饱和函数的快速超扭曲算法（STA）。实验结果表明，在引入 FNC 后，三种不同的控制器都能有效减小转向角误差。在单轴负载 6 吨的情况下，改进后的新 FNC+STA 集成双目标控制策略比 PID 提高了 53.16%，比 SMC 提高了 40.67%。稳态误差保持在 0.9° 以内，实现了重型车辆 OPCEHSSS 的高性能转向跟踪控制。

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

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.