Kalman Filter-Based Fusion Estimation Method of Steering Feedback Torque for Steer-by-Wire Systems  

作　　者：Lin Zhang Qiang Meng Hong Chen Yanjun Huang Yang Liu Konghui Guo 

机构地区：[1]School of Automotive Studies,Tongji University,Shanghai,China [2]Clean Energy Automotive Engineering Center,Tongji University,Shanghai,China [3]KH Automotive Technologies Co,Ltd,Changchun,China

出　　处：《Automotive Innovation》2021年第4期430-439,共10页汽车创新工程（英文）

摘　　要：Universal challenge lies in torque feedback accuracy for steer-by-wire systems,especially on uneven and low-friction road.Therefore,this paper proposes a fusion method based on Kalman filter that combines a dynamics-reconstruction method and disturbance observer-based method.The dynamics-reconstruction method is designed according to the vehicle dynamics and used as the prediction model of the Kalman filter.While the disturbance observer-based method is performed as an observer model of the Kalman filter.The performance of all three methods is comprehensively evaluated in a hardware-in-the-loop system.Experimental results show that the proposed fusion method outperforms dynamics reconstruction method and disturbance observer-based method.Specifically,compared with the dynamics-reconstruction method,the root mean square error is reduced by 36.58%at the maximum on the flat road.Compared with the disturbance observer-based method,the root mean square error is reduced by 39.11%at the maximum on different-friction and uneven road.

关 键 词：Kalman filter Steering feedback torque estimation Steer-by-wire system 

分 类 号：U46[机械工程—车辆工程]