新能源车双电机线控系统的同步转向角控制  

Synchronous Steering Angle Control of Double-Motor Steer-by-Wire System for New Energy Vehicles

作　　者：李鹰 张志鹏 LI Ying;ZHANG Zhipeng(Shanxi Institute of Technology,Yangquan Shanxi 045000,China;School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan Shanxi 030024,China)

机构地区：[1]山西工程技术学院,山西阳泉045000 [2]太原科技大学机械工程学院,山西太原030024

出　　处：《机床与液压》2024年第8期54-61,共8页Machine Tool & Hydraulics

基　　金：山西省青年科技研究基金项目(202102D2111411);山西省高等学校教学改革创新项目(J202210455)。

摘　　要：针对商用新能源车中单电机驱动线控转向系统弱扭矩和高故障率的问题,提出一种新能源车双电机线控系统的同步转向角控制策略。基于主从控制模式,引入一个带有扰动观测器的滑模控制器,使系统在具有模型不确定性和外部干扰的工况下仍然具有强鲁棒性,同时系统的动态响应和同步性能也得到相应的提升。最后借助实物平台完成验证。实验结果表明:应用主从控制时,正弦和梯形位置轨迹的平均同步误差值分别减少了83.7%和70.4%,而最大同步误差值分别减少了92.5%和74.3%,线控转向系统获得了良好的同步转向角控制性能。Aiming at the problems of weak torque and high failure rate of single-motor steer-by-wire system in commercial new energy vehicles,a synchronous steering angle control strategy of double-motor steer-by-wire system for new energy vehicles was proposed.Based on the master-slave control mode,a sliding mode controller with disturbance observer was introduced,to make the system with strong robustness under the condition of model uncertainty and external disturbance,then the dynamic response and synchronization performance were also improved accordingly.Finally,the verification was completed with the help of the physical platform.The experimental results show that when the master-slave control is applied,the average synchronization errors of the sine and trapezoid position trajectories are reduced by 83.7%and 70.4%respectively,while the maximum synchronization errors are reduced by 92.5%and 74.3%respectively.The steer-by-wire system has achieved good synchronous steering angle control performance.

关 键 词：双电机线控系统 同步转向角控制 主从模式 滑模控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] U463.6[自动化与计算机技术—控制科学与工程]