基于全局滑模控制的线控转向控制器设计  

Design of steer-by-wire controller based on global sliding mode control

作　　者：王艺淇 辛世界[1] 曲宝军[1] 魏家晓 曲浩 WANG Yiqi;XIN Shijie;QU Baojun;WEI Jiaxiao;QU Hao(School of Mechanical Engineering,Shandong University of Technology,Zibo 255049,China)

机构地区：[1]山东理工大学机械工程学院,山东淄博255049

出　　处：《山东理工大学学报（自然科学版）》2022年第1期66-69,共4页Journal of Shandong University of Technology:Natural Science Edition

摘　　要：针对线控转向(steer-by-wire,SBW)系统快速稳定性的要求,在对滑模控制进行研究的基础上,对全局滑模控制进行改进,设计了SBW系统前轮转角跟踪控制方法,实现了前轮对目标转角跟踪的有效控制并进行了数字仿真实验。仿真结果表明:所设计的快速全局滑模控制器可以更好地跟踪前轮目标转角理想值,使跟踪误差控制在±0.02 rad以内,同时提高了转向系统的稳定性。In response to the requirements of the rapid stability of the steer-by-wire(SBW)system,the global sliding mode control is improved based on the study of sliding mode control.The front wheel angle tracking control method of SBW system is designed to realize the effective control of front wheel on target angle tracking.Finally,the digital simulation experiment is carried out.The simulation results show that the designed fast global sliding mode controller can better track the ideal value of the front wheel target angle,with the tracking error within±0.02 rad,and improve the stability of the steering system.

关 键 词：滑模控制 线控转向 汽车 

分 类 号：U463[机械工程—车辆工程]