基于齿条力估算的线控转向系统二自由度线性二次高斯控制  

Two-degree-of-freedom linear quadratic Gaussian control of steer-by-wire system based on rack force estimation

作　　者：李煜 曾凯[1,2] 蔡玉梅 LI Yu;ZENG Kai;CAI Yumei(School of Mechanical and Energy Engineering,Shaoyang University,Shaoyang 422000,China;Key Laboratory of Hunan Province for Efficient Power System and Intelligent Manufacturing,Shaoyang University,Shaoyang 422000,China)

机构地区：[1]邵阳学院机械与能源工程学院,湖南邵阳422000 [2]邵阳学院高效动力系统智能制造湖南省重点实验室,湖南邵阳422000

出　　处：《邵阳学院学报(自然科学版)》2025年第2期38-44,共7页Journal of Shaoyang University:Natural Science Edition

基　　金：邵阳学院研究生创新项目(CX2023SY075)。

摘　　要：针对智能驾驶线控转向(steer-by-wire,SBW)系统的精准控制问题,对SBW转向执行机构的动力学建模,转向系统位置控制算法等进行研究。设计一种基于齿条力估算的线控转向系统二自由度线性二次高斯(two-degree-of-freedom linear quadratic Gaussian,2DOF LQG)控制,通过卡尔曼滤波(linear quadratic estimator,LQE)实时估算外部齿条力和系统状态,将估算结果与线性二次型调节器(linear quadratic regulator,LQR)相结合,并进行前馈补偿,改善系统的跟随性能。基于CarSim与Simulink在不同工况下的联合仿真,结果表明;与线控转向系统单自由度线性二次高斯(one-degree-of-freedom linear quadratic Gaussian,1DOF LQG)控制相比,2DOF LQG控制在正弦工况和角阶跃工况的齿条力估算精度分别提升了1.02%、1.33%,2DOF LQG在精准估算齿条力的同时还改善了转向跟随性能。This study addresses precise tracking control challenges with steer-by-wire(SBW)systems in intelligent driving,encompassing the dynamic modeling of the SBW steering actuator and the position control algorithm for the steering system.A two-degree-of-freedom linear quadratic Gaussian(LQG)control strategy was designed,leveraging rack force estimation via a linear quadratic estimator(LQE).The LQE provided real-time estimates of external rack force and system state,which were integrated with a linear quadratic regulator(LQR)for feedforward compensation,thereby enhancing system tracking performance.Co-simulation with CarSim and Simulink under varying conditions revealed that the 2DOF LQG control significantly outperformed a one-degree-of-freedom linear quadratic Gaussian(1DOF LQG)counterpart,achieving improvements in rack force estimation accuracy of 1.02%under sinusoidal inputs and 1.33%under angular step inputs.Furthermore,the 2DOF LQG control exhibited enhanced estimation accuracy on rack force and improved steering tracking performance.

关 键 词：线控转向 齿条力估算 LQG 前馈补偿 

分 类 号：U463.4[机械工程—车辆工程]