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Steer-by-wire system rack force estimation method based on expansion disturbance observer

A technology of interference observer and steering-by-wire, which is applied to steering mechanism, steering rod, electric steering mechanism, etc., can solve the problem of low real-time estimation accuracy of rack force, and achieve low real-time estimation accuracy, simplification difficulty, and real-time performance. Good results

Active Publication Date: 2019-10-08
SHANGHAI JIAO TONG UNIV
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  • Abstract
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Problems solved by technology

[0011] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is the shortcoming of low real-time estimation accuracy of the rack force under severe road conditions, improving the estimation performance and facilitating engineering realization

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  • Steer-by-wire system rack force estimation method based on expansion disturbance observer
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  • Steer-by-wire system rack force estimation method based on expansion disturbance observer

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Embodiment Construction

[0075] The following describes several preferred embodiments of the present invention with reference to the accompanying drawings, so as to make the technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned herein.

[0076] In the drawings, components with the same structure are denoted by the same numerals, and components with similar structures or functions are denoted by similar numerals. The size and thickness of each component shown in the drawings are shown arbitrarily, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of parts is appropriately exaggerated in some places in the drawings.

[0077] The invention provides a method for estimating the rack force of a steer-by-wire system based on an extended disturbance obs...

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Abstract

The invention discloses a steer-by-wire system rack force estimation method based on an expansion disturbance observer, and relates to the electric automobile steer-by-wire field. According to the method, a generalized rack force is used for expressing pavement feedback information, and the generalized rack force is defined as a sum total of a narrow rack force generated by a tire self-aligning torque, a parameter uncertainty and a model uncertainty; and after a steer-by-wire dynamics model is established, the expansion disturbance observer is designed, real-time rack force evaluation of a severe working condition is realized, and the method has the advantages of being more accurate and good in real-time performance in comparison with other methods.

Description

technical field [0001] The invention relates to the field of steer-by-wire steering of electric vehicles, in particular to a method for estimating rack force of a steer-by-wire system based on an extended disturbance observer. Background technique [0002] Steer-by-wire (SBW) for electric vehicles removes the mechanical connection from the steering wheel to the steering actuator in the traditional steering system, and realizes the decoupling of the steering wheel column module and the steering gear steering actuator module in hardware , to realize the two-way transmission of the driver's steering command and the road surface force feedback through electrical signals. However, the mechanical decoupling makes it difficult to observe the road force feedback in real time. Due to the complex non-linear characteristics of the tire mechanics model in chassis dynamics, traditionally, the empirical data fitting method is mostly used to evaluate the force feeling. However, the two-w...

Claims

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Application Information

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IPC IPC(8): B62D5/04B62D6/00B62D113/00B62D137/00
CPCB62D5/04B62D5/046B62D6/00
Inventor 吴晓东章鸣铭苏成睿
Owner SHANGHAI JIAO TONG UNIV
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