{"title":"考虑角模块特性差异的 4WISBW 系统的同步和跟踪控制","authors":"Heng Huang, Wanzhong Zhao, Chunyan Wang","doi":"10.1016/j.conengprac.2024.106043","DOIUrl":null,"url":null,"abstract":"<div><p>To enhance vehicle stability and safety, the four-wheel independent steer-by-wire (4WISBW) system has garnered significant attention. However, the characteristics of corner modules, including model parameters uncertainty and disturbance torque, directly contribute to the deterioration of dynamic response in tracking control. And the differences in the characteristics leading to reduced synchronization performance in the 4WISBW system and hindering effective coordination. To enhance the synchronization and tracking control performance of the 4WISBW system, a novel control strategy, coupled with the fictitious master-generalized mean deviation coupling structure (FMGMDCS), is proposed. Firstly, the corner module dynamic model and the vehicle dynamic model are established. Subsequently, the impact of the differences in the characteristics on the system's tracking and synchronization control is analyzed. Next, the FMGMDCS and the angle synchronization controller based on a new reaching law sliding mode control (NRLSMC) are proposed to compensate for synchronization errors in the 4WISBW system caused by the differences in the characteristics of corner modules. Finally, a radial basis function neural network fast terminal sliding mode control (RBF-FTSMC) steering angle tracking controller is designed to enhance the tracking performance of corner modules. Simulation and experimental results indicate that the proposed control strategy can effectively solve the synchronization problem of the 4WISBW system and improve the system's tracking performance.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"152 ","pages":"Article 106043"},"PeriodicalIF":5.4000,"publicationDate":"2024-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Synchronization and tracking control of 4WISBW system considering the differences in the characteristics of corner modules\",\"authors\":\"Heng Huang, Wanzhong Zhao, Chunyan Wang\",\"doi\":\"10.1016/j.conengprac.2024.106043\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>To enhance vehicle stability and safety, the four-wheel independent steer-by-wire (4WISBW) system has garnered significant attention. However, the characteristics of corner modules, including model parameters uncertainty and disturbance torque, directly contribute to the deterioration of dynamic response in tracking control. And the differences in the characteristics leading to reduced synchronization performance in the 4WISBW system and hindering effective coordination. To enhance the synchronization and tracking control performance of the 4WISBW system, a novel control strategy, coupled with the fictitious master-generalized mean deviation coupling structure (FMGMDCS), is proposed. Firstly, the corner module dynamic model and the vehicle dynamic model are established. Subsequently, the impact of the differences in the characteristics on the system's tracking and synchronization control is analyzed. Next, the FMGMDCS and the angle synchronization controller based on a new reaching law sliding mode control (NRLSMC) are proposed to compensate for synchronization errors in the 4WISBW system caused by the differences in the characteristics of corner modules. Finally, a radial basis function neural network fast terminal sliding mode control (RBF-FTSMC) steering angle tracking controller is designed to enhance the tracking performance of corner modules. Simulation and experimental results indicate that the proposed control strategy can effectively solve the synchronization problem of the 4WISBW system and improve the system's tracking performance.</p></div>\",\"PeriodicalId\":50615,\"journal\":{\"name\":\"Control Engineering Practice\",\"volume\":\"152 \",\"pages\":\"Article 106043\"},\"PeriodicalIF\":5.4000,\"publicationDate\":\"2024-09-04\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Control Engineering Practice\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0967066124002028\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Control Engineering Practice","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0967066124002028","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Synchronization and tracking control of 4WISBW system considering the differences in the characteristics of corner modules
To enhance vehicle stability and safety, the four-wheel independent steer-by-wire (4WISBW) system has garnered significant attention. However, the characteristics of corner modules, including model parameters uncertainty and disturbance torque, directly contribute to the deterioration of dynamic response in tracking control. And the differences in the characteristics leading to reduced synchronization performance in the 4WISBW system and hindering effective coordination. To enhance the synchronization and tracking control performance of the 4WISBW system, a novel control strategy, coupled with the fictitious master-generalized mean deviation coupling structure (FMGMDCS), is proposed. Firstly, the corner module dynamic model and the vehicle dynamic model are established. Subsequently, the impact of the differences in the characteristics on the system's tracking and synchronization control is analyzed. Next, the FMGMDCS and the angle synchronization controller based on a new reaching law sliding mode control (NRLSMC) are proposed to compensate for synchronization errors in the 4WISBW system caused by the differences in the characteristics of corner modules. Finally, a radial basis function neural network fast terminal sliding mode control (RBF-FTSMC) steering angle tracking controller is designed to enhance the tracking performance of corner modules. Simulation and experimental results indicate that the proposed control strategy can effectively solve the synchronization problem of the 4WISBW system and improve the system's tracking performance.
期刊介绍：
Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper.
The scope of Control Engineering Practice matches the activities of IFAC.
Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
