基于滑模控制理论的汽车线控转向系统操纵稳定性研究

2013 5th International Conference on Intelligent Human-Machine Systems and Cybernetics Pub Date : 2013-08-26 DOI:10.1109/IHMSC.2013.45

Wei Zhao, H. Gu, Guixiang Zhang, J. Xiao

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引用次数: 2

摘要

本文通过建立车辆系统动力学方程，建立了车辆模型和轮胎模型，并在横摆角速度增益一定的前提下，根据理想比例建立了线控转向系统的转向模型。基于滑模控制理论，设计了自适应滑模控制器。将控制器输入定义为横摆角速度和侧滑角误差的加权组合，并计算期望的前轮角作为输出。仿真结果表明，自适应滑模控制器可以提高SBW系统的操纵稳定性。

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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Vehicle Steering-by-Wire System's Handling Stability Research Based on Sliding Mode Control Theory

The vehicle model and the tire model are established through the vehicle system dynamic equation in this paper, and with the assumption that the yaw rate gain is constant, the steering model is developed via the ideal ratio for the steer-by wire (SBW) system. An adaptive sliding mode controller is designed Based on the theory of sliding mode control. The controller input is defined as the weighted combination of yaw rate and sideslip angle errors, and the desired front wheel angle is calculated as the output. The simulation results show that the adaptive sliding mode controller can improve the handling stability for SBW system.

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2013 5th International Conference on Intelligent Human-Machine Systems and Cybernetics

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