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Steering-by-wire system modeling control method for processing state inequality constraints

An equation-constrained, steer-by-wire technology, applied in control/adjustment systems, two-dimensional position/course control, vehicle position/route/height control, etc., can solve steering control deviation, reduce vehicle stability, and difficult Ensure that the state quantity of the system will not exceed the given boundary and other problems, so as to achieve the effect of accurate tracking trajectory and satisfying motion

Pending Publication Date: 2021-06-29
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These control strategies have achieved certain effects, but it is difficult to ensure that the system state quantity will not exceed the given boundary during the entire control process
The state inequality constraints generated by the structure of the steer-by-wire system or the working environment must be strictly guaranteed. Once the constraints are exceeded, the steering control will deviate and the stability of the car will be reduced.

Method used

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  • Steering-by-wire system modeling control method for processing state inequality constraints
  • Steering-by-wire system modeling control method for processing state inequality constraints
  • Steering-by-wire system modeling control method for processing state inequality constraints

Examples

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Embodiment 1

[0070] Such as figure 1 As shown, this embodiment provides a modeling control method for a steer-by-wire system that can handle state inequality constraints, and the operation steps are as follows:

[0071] S1. Establishing a dynamic model of the steering-by-wire system;

[0072] S2. Based on the limitation of the state inequality constraints in the actual working process of the system, construct a conversion function of one-to-one mapping;

[0073] S3. Use the conversion function to convert the state variable constrained by the state inequality in the system into a new "free" state variable, and obtain the dynamic equation after the variable conversion;

[0074] S4. Aiming at the converted kinetic equations and performance constraints, a controller based on Udwadia-Kalaba theory is established to control the operation of the system.

[0075] Further, the dynamic model of the steer-by-wire system constructed in S1 is:

[0076]

[0077] Among them, J eq Indicates the equ...

Embodiment 2

[0122] Embodiment 2: Based on Embodiment 1, but different:

[0123] figure 2 The steer-by-wire system shown is the object of modeling and control of the present invention. Such as figure 2 As shown, the system can be divided into two parts: the upper part includes the steering wheel, steering wheel angle sensor and feedback motor; the lower part includes the steering motor, pinion angle sensor, rack-and-pinion gearbox and steering front wheels. The steering wheel feedback motor simulates the interaction between the vehicle's front wheels and the road surface during driving, providing the driver with a real sense of the road; the front wheel steering motor provides the actual steering torque to the two front wheels through the rack and pinion gearbox and the steering arm ;Angle sensor collects steering angle information for closed-loop control.

Embodiment 3

[0124] Embodiment 3: Based on Embodiment 1 and 2, but different:

[0125] image 3 The controller input shown is the steering angle of the steering-by-wire system and the given state inequality constraints. The control torque required by the front wheel steering motor is calculated by the steering-by-wire system controller, and the actual steering angle measured by the angle sensor is obtained through negative feedback. The controller performs closed-loop control adjustment, and finally makes the steering angle of the front wheels of the steer-by-wire system accurately reach the desired steering angle and does not exceed a given boundary. The controller here is the controller of the entire system, and the steer-by-wire system controller is the core Invention set forth in the controller.

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Abstract

The invention discloses a steering-by-wire system modeling control method capable of processing state inequality constraints, and belongs to the technical field of steering-by-wire system control methods. The operation steps are as follows: constructing a steering-by-wire system dynamics model; constructing a one-to-one mapping transfer function based on the limitation of the state inequality constraint in the actual working process of the system; converting a state variable constrained by a state inequality in the system into a new 'free' state variable by using a conversion function to obtain a kinetic equation after variable conversion; and aiming at the converted kinetic equation and the performance constraint, establishing a controller based on a Udwadia-Kalaaba theory to control the operation of the system. By means of the steering-by-wire system control method considering the state inequality constraint, the system can rapidly, stably and accurately track the given tracking performance requirement under the condition that the requirements of the performance constraint and the state inequality constraint are met at the same time, and a new way is opened up for modeling control of a mechanical system containing the state inequality constraint.

Description

technical field [0001] The invention relates to the technical field of control methods for a steer-by-wire system, in particular to a modeling control method for a steer-by-wire system that can handle state inequality constraints. Background technique [0002] With the continuous advancement of science and technology, assisted driving systems and unmanned vehicles have become emerging hot research fields, and intelligent steering of automobiles has become an inevitable trend. The performance of the automobile steering system directly affects the operation stability of the automobile, and plays a vital role in ensuring the safe driving of the vehicle, reducing traffic accidents and protecting the personal safety of the driver. Although the traditional mechanical steering system improves the transmission characteristics of the steering force of the automobile to a certain extent, the fixed transmission ratio of the mechanical connection between the steering wheel and the steer...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0276
Inventor 孙浩杨路文朱梓诚屠鲁川
Owner HEFEI UNIV OF TECH
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