A smart car corner control method based on active disturbance rejection control

Abstract

The invention relates to an intelligent vehicle turning angle control method based on active-disturbance-rejection control. The method includes the following steps that (1) a vehicle steering system model is established, and a kinetics feature expression of a steering system is generated; (2) a steering drag torque estimator is established, and the steering drag torque estimator uses a true turning angle value obtained by a turning angle sensor of the vehicle steering system and an output torque command value of a steering execution motor as inputs and uses an estimated value, obtained throughcalculation, of steering drag torque in the steering system, the true turning angle value and an estimated value of a differential component of the true turning angle value as outputs; and (3) a turning angle tracking controller is established, the turning angle tracking controller uses an output result of the steering drag torque estimator and an expected turning angle value as inputs and uses an output controlled quantity obtained through calculation as an output, an output controlled quantity command is sent to the steering execution motor, and turning angle tracking control of an intelligent vehicle is achieved. Compared with the prior art, the method has the advantages that noise effects are reduced, and adaptability is high.

Description

technical field [0001] The invention relates to the field of smart car control, in particular to a smart car corner control method based on active disturbance rejection control. Background technique [0002] In recent years, smart car technology at home and abroad has developed rapidly, but it will take a long time for smart cars to meet the SAE autonomous driving level 5 standard, that is, fully autonomous driving. At present, most of the unmanned driving research is still in the experimental stage, the technology is still immature and incomplete, the cost is high, and there is still a big gap between domestic and foreign technologies. The motion control system of a smart car is the cornerstone of automatic driving and one of the most important links. Its purpose is to realize the tracking control of the expected path and trajectory of the smart car through the control of the vehicle actuators. The control of the steering wheel is to control the steering system of the vehi...

AI Technical Summary

Problems solved by technology

PID control is simple, direct and effective for the feedback control of the linear system, but it has many defects for the precise angle tracking control of the steering system, such as the non-linear characteristics of the steering system, the feedback of the differential term is easily affected by noise, and it cannot be applied to various working conditions, etc.

The sliding mode variable structure control is robust to external disturbances and internal perturbations of the system, and is suitable for steering system corner tracking control with nonlinear characteristics, but the system is prone to chattering due to the switching control of the control law

Steering system sensors have noise, the system contains unknown modeling dynamics, some disturbance items are unknown, and the steering resistance torque is nonlinear, making it difficult to design a control method for the steering system of an intelligent vehicle under various working conditions.

Images