Control of Vehicle Active Front Steering Based on Active Disturbance Rejection Feedback Controller  

作　　者：桑楠 魏民祥 白玉 

机构地区：[1]College of Energy and Power Engineering,Nanjing University of Aeronautics and Astronautics [2]College of Mechanical and Electrical Engineering,Changzhou Institute of Technology

出　　处：《Transactions of Nanjing University of Aeronautics and Astronautics》2015年第4期461-468,共8页南京航空航天大学学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(No.51205191)

摘　　要：A control method of active front steering(AFS)based on active disturbance rejection technique was proposed for solving the model nonlinearity and parameter decoupling control in the traditional control methods.The AFS controller consists of the proportional and derivative(PD)feed-forward controller and the active disturbance rejection feedback controller.To improve the steering response characteristics of a vehicle,a PD controller is designed to realize variable steering gear ratio,and to enhance the safety of vehicle when steering.An active disturbance rejection controller(ADRC)is designed to follow the expected yaw rate of the vehicle.According to the input and output of system,extended state observer(ESO)of ADRC can dynamically estimate internal and external disturbance of the system,thus easily realizing the model nonlinear and parameter decoupling control.The AFS controller is simulated and validated in Matlab and CarSim.The simulating results of double lane change(DLC)test and pylon course slalom(PCS)test show that the ADRC can well control the vehicle model to complete the road simulation test of DLC and PCS with small path tracking error.The simulating results of angle step test of steering wheel show that the vehicle under the control of ADRC demonstrates good lateral response characteristic.The controller regulates a wide range of parameters.The model has less precision requirements with good robustness.A control method of active front steering（AFS）based on active disturbance rejection technique was proposed for solving the model nonlinearity and parameter decoupling control in the traditional control methods.The AFS controller consists of the proportional and derivative（PD）feed-forward controller and the active disturbance rejection feedback controller.To improve the steering response characteristics of a vehicle,a PD controller is designed to realize variable steering gear ratio,and to enhance the safety of vehicle when steering.An active disturbance rejection controller（ADRC）is designed to follow the expected yaw rate of the vehicle.According to the input and output of system,extended state observer（ESO）of ADRC can dynamically estimate internal and external disturbance of the system,thus easily realizing the model nonlinear and parameter decoupling control.The AFS controller is simulated and validated in Matlab and CarSim.The simulating results of double lane change（DLC）test and pylon course slalom（PCS）test show that the ADRC can well control the vehicle model to complete the road simulation test of DLC and PCS with small path tracking error.The simulating results of angle step test of steering wheel show that the vehicle under the control of ADRC demonstrates good lateral response characteristic.The controller regulates a wide range of parameters.The model has less precision requirements with good robustness.

关 键 词：active disturbance rejection technique active steering variable ratio extended state observer 

分 类 号：U461.4[机械工程—车辆工程]