Steering engine controller voltage control method based on nonlinear interference predictor

Abstract

The invention relates to a steering engine controller voltage control method based on a nonlinear interference predictor, and belongs to the technical field of steering engine bus voltage control. The method comprises the following steps: acquiring a steering engine control target angle position, and acquiring a direct current bus voltage of a steering engine controller through a sensor; obtaining a stable direct current bus voltage of the steering engine controller through a current feedforward nonlinear interference observation model according to the bus voltage of the steering engine controller; obtaining the steering engine angle position deviation and the steering engine angle position deviation change rate through an angle deviation analysis model according to the steering engine controller stable direct current bus voltage; and according to the steering engine angle position deviation and the steering engine angle position deviation change rate, obtaining a steering engine control correct angle position through a steering engine FA-PID model. The control of the bus voltage of the steering engine controller is realized, and the accuracy of the steering engine control angle position is improved at the same time.

Description

Technical Field

[0001] The invention belongs to the field of steering gear bus voltage control, and in particular relates to a steering gear controller voltage control method based on a nonlinear interference predictor. Background Art

[0002] A servo is a device that controls the angular position. The bus voltage of the servo controller has a certain influence on the angular position, and nonlinear factors such as the servo motor, dead zone tooth gap and LuGre friction have a certain influence on the bus voltage. It is necessary to effectively control these nonlinear interference factors to reduce their interference on the bus voltage and improve the accuracy of the servo controller in controlling the angular position.

[0003] In traditional double closed-loop control systems, the set current value will change accordingly with the change in voltage, resulting in large power disturbances that seriously threaten the stability of the bus voltage; the PID control algorithm based on the linear model cannot cope with multi-variable, strongly coupled nonlinear systems such as the servo controller; therefore, the above control method is not suitable for effectively controlling the bus voltage of the servo controller in the presence of nonlinear interference to improve the accuracy of the servo angle control. Summary of the invention

[0004] In order to solve the above problems existing in the prior art, the present invention provides a voltage control method of a steering gear controller based on a nonlinear interference predictor.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A voltage control method for a steering gear controller based on a nonlinear disturbance predictor, comprising:

[0007] Obtain the target angle position of the servo control and collect the DC bus voltage of the servo controller through the sensor;

[0008] According to the DC bus voltage of the steering gear controller, a stable DC bus voltage of the steering gear controller is obtained through a current feedforward nonlinear disturbance observation model;

[0009] According to the servo controller stabilizing the DC bus voltage, the servo angle position deviation and the servo angle position deviation change rate are obtained through the angle deviation analysis model;

[0010] The correct angular position of the steering gear control is obtained through the steering gear FA-PID model according to the steering gear angular position deviation and the steering gear angular position deviation change rate.

[0011] Preferably, the current feedforward nonlinear disturbance observation model includes:

[0012] Obtaining the load current of the steering gear, and obtaining a feedforward compensation term through feedforward compensation calculation according to the DC bus voltage of the steering gear controller;

[0013] An estimated load disturbance current is obtained by calculating the disturbance current according to the load current of the steering gear;

[0014] Obtaining an interference compensation term through interference compensation calculation according to the estimated load disturbance current;

[0015] The stabilized DC bus voltage of the steering gear controller is obtained according to the steering gear load current, the feedforward compensation term and the interference compensation term.

[0016] Preferably, the angle deviation analysis model includes:

[0017] According to the servo controller stabilizing the DC bus voltage, a servo control predicted angle position is obtained through an angle prediction model;

[0018] The steering gear angle position deviation and the steering gear angle position deviation change rate are obtained by angle deviation calculation according to the steering gear control predicted angle position and the steering gear control target angle position.

[0019] Preferably, obtaining the predicted angle position of the steering gear control by using an angle prediction model according to the stabilization of the DC bus voltage by the steering gear controller comprises:

[0020] Acquire the servo current, and obtain the servo output power through power calculation according to the servo controller stable DC bus voltage and the servo current;

[0021] The predicted angular position of the steering gear control is obtained by adjusting the torque and the rotation speed according to the steering gear output power.

[0022] Preferably, obtaining the correct angular position of the steering gear control through a steering gear FA-PID model according to the steering gear angular position deviation and the steering gear angular position deviation change rate comprises:

[0023] Obtain a fuzzy set, and map the steering gear angle position deviation and the steering gear angle position deviation change rate to the fuzzy set through a triangular membership function to obtain a fuzzy variable;

[0024] According to the fuzzy variables, fuzzy parameters are obtained by judging the rules of the rule base;

[0025] According to the fuzzy parameters, the steering gear PID parameters are obtained by defuzzification using the center of gravity method;

[0026] The servo angle control output voltage is calculated by the servo PID controller according to the servo PID parameters;

[0027] The output voltage of the steering gear is controlled according to the steering gear angle to adjust the number of revolutions and torque of the steering gear to obtain the correct angle position of the steering gear control.

[0028] Preferably, the fuzzy variables include angle position deviation variables and angle position deviation change rate variables, the angle position deviation variables include large errors, small errors, and negative errors, and the angle position deviation change rate variables include fast changes, slow changes, and no changes.

[0029] Preferably, the rule base rule judgment includes:

[0030] Determine whether the angle position deviation variable is a large error. If yes, determine whether the angle position deviation change rate variable is fast changing. If yes, increase the proportional parameter, integral parameter, and differential parameter. If no, determine whether the angle position deviation change rate variable is slow changing. If yes, increase the proportional parameter and integral parameter. If no, increase the proportional parameter.

[0031] If not, it is determined whether the angle position deviation variable is a small error; if so, it is determined whether the angle position deviation change rate variable is a fast change; if so, the proportional parameter is increased; if not, it is determined whether the angle position deviation change rate variable is a slow change; if so, the proportional parameter and the differential parameter are increased; if not, the differential parameter is increased;

[0032] If not, determine whether the angle position deviation change rate variable is changing fast, if yes, reduce the proportional parameter, integral parameter, and differential parameter; if not, determine whether the angle position deviation change rate variable is changing slowly, if yes, reduce the proportional parameter and integral parameter; if not, reduce the proportional parameter;

[0033] A nonlinear interference predictor-based steering gear controller voltage control method and a nonlinear interference predictor-based steering gear controller voltage control system, comprising a data acquisition module, a voltage control module, a deviation analysis module, and a deviation correction module, including:

[0034] The data acquisition module is used to obtain the target angle position of the steering gear control and collect the DC bus voltage of the steering gear controller through the sensor;

[0035] The voltage control module is used to obtain a stable DC bus voltage of the steering gear controller through a current feedforward nonlinear disturbance observation model according to the DC bus voltage of the steering gear controller;

[0036] The deviation analysis module is used to obtain the steering gear angle position deviation and the steering gear angle position deviation change rate through the angle deviation analysis model according to the stable DC bus voltage of the steering gear controller;

[0037] The deviation correction module is used to obtain the correct angle position of the steering gear control through the steering gear FA-PID model according to the steering gear angle position deviation and the steering gear angle position deviation change rate.

[0038] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the program, the voltage control method of a servo controller based on a nonlinear interference predictor is implemented.

[0039] A storage medium containing computer executable instructions, wherein the computer executable instructions are used to execute the above-mentioned steering gear controller voltage control method based on nonlinear disturbance predictor when executed by a computer processor.

[0040] The beneficial effects of the present invention are:

[0041] (1) The bus voltage of the servo controller is controlled by a nonlinear disturbance observer based on current feedforward to achieve the effect of stabilizing the bus voltage. At the same time, no additional voltage and current sensors are added, reducing the complexity of the operation.

[0042] (2) By setting the feedforward current, the known nonlinear interference in the system is compensated in advance, the impact of the interference on the system performance is reduced, and the accuracy of the bus voltage control of the servo controller is improved.

[0043] (3) Through the servo FA-PID model, the parameters of the PID controller are modulated in real time according to the servo angle position deviation and the servo angle position deviation change rate. Fuzzy logic is introduced to make adaptive adjustments to the nonlinear factors of the servo system, optimize the control signal, and ensure the accuracy of angle position control.

[0044] (4) By combining the nonlinear disturbance observation model based on current feedforward and the servo FA-PID model, the error of the angle position control is reduced by stabilizing the bus voltage of the servo controller. At the same time, FA-PID is combined to further optimize the angle position control, ensuring that the servo can still maintain good control effect in a complex dynamic environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0046] Figure 1 The present invention discloses a voltage control method for a steering gear controller based on a nonlinear interference predictor. DETAILED DESCRIPTION

[0047] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0048] See also Figure 1 , a voltage control method of a steering gear controller based on a nonlinear disturbance predictor, comprising:

[0049] S1: Get the target angle position of the servo control and collect the DC bus voltage of the servo controller through the sensor;

[0050] S2: obtaining a stable DC bus voltage of the steering gear controller through a current feedforward nonlinear disturbance observation model according to the DC bus voltage of the steering gear controller;

[0051] S3: obtaining the steering gear angle position deviation and the steering gear angle position deviation change rate through an angle deviation analysis model according to the servo controller stabilizing the DC bus voltage;

[0052] S4: Obtaining the correct angular position of the steering gear control through the steering gear FA-PID model according to the steering gear angular position deviation and the steering gear angular position deviation change rate.

[0053] In step S2, the current feedforward nonlinear disturbance observation model includes:

[0054] S201: Obtain the load current of the steering gear, and obtain a feedforward compensation term through feedforward compensation calculation according to the DC bus voltage of the steering gear controller;

[0055] The feedforward compensation calculation expression is:

[0056]

[0057] in, represents the feedforward compensation term, s is the complex frequency variable in Laplace transform, C is the capacitance value on the servo side, G upi (s) represents the regulation function of the voltage controller, G cpi (s) represents the regulation function of the control regulator, k is the coefficient, u s Indicates the battery side inductor current, u dc The servo controller stabilizes the DC bus voltage, U dcref (s) is the DC bus voltage of the steering gear controller;

[0058] S202: obtaining an estimated load disturbance current by calculating the disturbance current according to the load current of the steering gear;

[0059] The disturbance current calculation expression is:

[0060]

[0061] in, is the estimated load disturbance current, s is the complex frequency variable in Laplace transform, T represents the time constant, i o (s) represents the load current of the steering gear;

[0062] S203: Obtaining an interference compensation term through interference compensation calculation according to the estimated load disturbance current;

[0063] The interference compensation calculation expression is:

[0064]

[0065] in, represents the interference compensation term, G fd (s) is the first-order differential feedforward function of the disturbance observer, is the estimated load disturbance current, s is the complex frequency variable in Laplace transform, C is the capacitance value on the servo side, G upi (s) represents the regulation function of the voltage controller, G cpi (s) represents the regulation function of the control regulator, k is the coefficient;

[0066] S204: Obtaining a stable DC bus voltage of the steering gear controller according to the steering gear load current, the feedforward compensation term and the interference compensation term;

[0067] The stable DC bus voltage expression of the servo controller is:

[0068]

[0069] Among them, U dC (s) represents the DC bus voltage stabilized by the servo controller, represents the feedforward compensation term, represents the interference compensation term, s is the complex frequency variable in Laplace transform, C is the capacitance value on the servo side, G upi (s) represents the regulation function of the voltage controller, G cpi (s) represents the regulation function of the control regulator, k is the coefficient, i o (s) represents the load current of the steering gear;

[0070] In step S3, the angle deviation analysis model includes:

[0071] S301: obtaining a predicted angle position of the steering gear control according to the angle prediction model based on the DC bus voltage stabilized by the steering gear controller;

[0072] S302: obtaining the steering gear angle position deviation and the steering gear angle position deviation change rate by angle deviation calculation according to the steering gear control predicted angle position and the steering gear control target angle position;

[0073] The angle deviation calculation expression is:

[0074] e(t)=θ target (t)-θ predicted (t),

[0075]

[0076] Where, t represents time, e(t) represents the angular position deviation of the servo, θ target (t) represents the target angle position controlled by the steering gear, θ predicted (t) represents the predicted angle position of the steering gear control, represents the rate of change of the servo angle position deviation, represents the first-order differential of e(t).

[0077] In step S301, the angle prediction model includes:

[0078] S301-1: Acquire the servo current, and obtain the servo output power through power calculation according to the servo controller stable DC bus voltage and the servo current;

[0079] The power calculation expression is:

[0080] P out =V bus ×I motor ×η,

[0081] Among them, P out Indicates the output power of the servo, V bus Indicates the servo controller stabilizes the DC bus voltage, I motor represents the steering gear current, η is the steering gear efficiency;

[0082] S301-2: Obtain the predicted angular position of the servo control by adjusting the torque and the rotational speed according to the servo output power.

[0083] In step S4, obtaining the correct angular position of the steering gear control by using the steering gear FA-PID model according to the steering gear angular position deviation and the steering gear angular position deviation change rate includes:

[0084] S401: Obtain a fuzzy set, the fuzzy set including a steering gear angle position deviation fuzzy set and a steering gear angle position deviation change rate fuzzy set, map the steering gear angle position deviation and the steering gear angle position deviation change rate to the fuzzy set through a triangular membership function to obtain fuzzy variables, the fuzzy variables including an angle position deviation variable and an angle position deviation change rate variable, the angle position deviation variable including a large error, a small error, and a negative error, and the angle position deviation change rate variable including a fast change, a slow change, and no change;

[0085] S402: Obtain fuzzy parameters according to the fuzzy variables through rule base rules;

[0086] The rule base rule judgment includes:

[0087] Determine whether the angle position deviation variable is a large error. If yes, determine whether the angle position deviation change rate variable is fast changing. If yes, increase the proportional parameter, integral parameter, and differential parameter. If no, determine whether the angle position deviation change rate variable is slow changing. If yes, increase the proportional parameter and integral parameter. If no, increase the proportional parameter.

[0088] If not, it is determined whether the angle position deviation variable is a small error; if so, it is determined whether the angle position deviation change rate variable is a fast change; if so, the proportional parameter is increased; if not, it is determined whether the angle position deviation change rate variable is a slow change; if so, the proportional parameter and the differential parameter are increased; if not, the differential parameter is increased;

[0089] If not, determine whether the angle position deviation change rate variable is changing fast, if yes, reduce the proportional parameter, integral parameter, and differential parameter; if not, determine whether the angle position deviation change rate variable is changing slowly, if yes, reduce the proportional parameter and integral parameter; if not, reduce the proportional parameter;

[0090] S403: Defuzzifying the fuzzy parameters by the centroid method to obtain the steering gear PID parameters, wherein the steering gear PID parameters include a proportional parameter, an integral parameter, and a differential parameter;

[0091] S404: Calculating a steering gear angle control output voltage through a steering gear PID controller according to the steering gear PID parameters;

[0092] The calculation expression of the steering gear PID controller is:

[0093]

[0094] Wherein, t represents time, u(t) represents the output voltage of the steering gear angle control, K p is the scale parameter, K i is the integration parameter, Kd is a differential parameter, e(t) represents the angular position deviation of the servo, represents the rate of change of the servo angle position deviation, Indicates the integral of the servo angle position deviation;

[0095] S405: adjusting the number of revolutions and torque of the servo according to the output voltage of the servo angle control to obtain the correct angular position of the servo control;

[0096] It should be noted that the triangular membership function is the membership function in the PID controller

[0097] In this embodiment, a fuzzy set is defined according to the steering gear angle position deviation and the steering gear angle position deviation change rate, wherein the steering gear angle position deviation fuzzy set includes large error, small error and negative error, and the steering gear angle position deviation change rate fuzzy set includes fast change, slow change and no change; the actual values ​​of the steering gear angle position deviation and the steering gear angle position deviation change rate are mapped to the above-mentioned steering gear angle position deviation fuzzy set and steering gear angle position deviation change rate fuzzy set through a membership function, a fuzzy inference rule is created, and a proportional parameter, an integral parameter and a differential parameter of a PID controller are defined under different steering gear angle position deviations and steering gear angle position deviation change rates, PID parameters are obtained through a defuzzification process according to the result of fuzzy inference, a voltage of a correct angle position of the steering gear control is calculated through a PID controller according to the PID parameters, the number of revolutions and torque of the steering gear are adjusted to the correct angle position of the steering gear control through the voltage, and the correct angle position of the steering gear control is the same as the target angle position of the steering gear control.

[0098] A nonlinear interference predictor-based steering gear controller voltage control method and a nonlinear interference predictor-based steering gear controller voltage control system, comprising a data acquisition module, a voltage control module, a deviation analysis module, and a deviation correction module, including:

[0099] The data acquisition module is used to obtain the target angle position of the steering gear control and collect the DC bus voltage of the steering gear controller through the sensor;

[0100] The voltage control module is used to obtain a stable DC bus voltage of the steering gear controller through a current feedforward nonlinear disturbance observation model according to the DC bus voltage of the steering gear controller;

[0101] The deviation analysis module is used to obtain the steering gear angle position deviation and the steering gear angle position deviation change rate through the angle deviation analysis model according to the stable DC bus voltage of the steering gear controller;

[0102] The deviation correction module is used to obtain the correct angle position of the steering gear control through the steering gear FA-PID model according to the steering gear angle position deviation and the steering gear angle position deviation change rate.

[0103] The computer storage medium of the embodiment of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device.

[0104] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0105] The program code included on the computer readable medium can be transmitted with any appropriate medium, including but not limited to wireless, electric wire, optical cable, RF, etc., or any suitable combination of the above. The computer program code for performing the operation of the present invention can be written in one or more programming languages ​​or their combinations, and the programming language includes object-oriented programming languages-such as Java, Smalltalk, C++, and also includes conventional procedural programming languages-such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0106] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A voltage control method for a steering gear controller based on a nonlinear disturbance predictor, characterized in that: include: Obtain the target angle position of the servo control and collect the DC bus voltage of the servo controller through the sensor; According to the DC bus voltage of the steering gear controller, a stable DC bus voltage of the steering gear controller is obtained through a current feedforward nonlinear disturbance observation model; According to the servo controller stabilizing the DC bus voltage, the servo angle position deviation and the servo angle position deviation change rate are obtained through the angle deviation analysis model; The correct angular position of the steering gear control is obtained through the steering gear FA-PID model according to the steering gear angular position deviation and the steering gear angular position deviation change rate.

2. The servo controller voltage control method based on nonlinear disturbance predictor according to claim 1, characterized in that: The current feedforward nonlinear disturbance observation model includes: Obtaining the servo load current, and obtaining a feedforward compensation term through feedforward compensation calculation according to the servo controller DC bus voltage; An estimated load disturbance current is obtained by calculating the disturbance current according to the load current of the steering gear; Obtaining an interference compensation term through interference compensation calculation according to the estimated load disturbance current; The stabilized DC bus voltage of the steering gear controller is obtained according to the steering gear load current, the feedforward compensation term and the interference compensation term.

3. The servo controller voltage control method based on nonlinear disturbance predictor according to claim 1, characterized in that: The angle deviation analysis model includes: According to the servo controller stabilizing the DC bus voltage, a servo control predicted angle position is obtained through an angle prediction model; The steering gear angle position deviation and the steering gear angle position deviation change rate are obtained by angle deviation calculation according to the steering gear control predicted angle position and the steering gear control target angle position.

4. The voltage control method of the steering gear controller based on the nonlinear disturbance predictor according to claim 3 is characterized in that: The method of obtaining the predicted angle position of the steering gear control by using the angle prediction model according to the stabilization of the DC bus voltage by the steering gear controller comprises: Acquire the servo current, and obtain the servo output power through power calculation according to the servo controller stable DC bus voltage and the servo current; The predicted angular position of the steering gear control is obtained by adjusting the torque and the rotation speed according to the steering gear output power.

5. The voltage control method of the steering gear controller based on the nonlinear disturbance predictor according to claim 1, characterized in that: The obtaining of the correct angular position of the steering gear control by the steering gear FA-PID model according to the steering gear angular position deviation and the steering gear angular position deviation change rate comprises: Obtain a fuzzy set, and map the steering gear angle position deviation and the steering gear angle position deviation change rate to the fuzzy set through a triangular membership function to obtain a fuzzy variable; According to the fuzzy variables, fuzzy parameters are obtained by judging the rules of the rule base; According to the fuzzy parameters, the steering gear PID parameters are obtained by defuzzification using the center of gravity method; The servo angle control output voltage is calculated by the servo PID controller according to the servo PID parameters; The output voltage of the steering gear is controlled according to the steering gear angle to adjust the number of revolutions and torque of the steering gear to obtain the correct angle position of the steering gear control.

6. The voltage control method of the steering gear controller based on the nonlinear disturbance predictor according to claim 5, characterized in that: The fuzzy variables include angle position deviation variables and angle position deviation change rate variables. The angle position deviation variables include large errors, small errors, and negative errors. The angle position deviation change rate variables include fast changes, slow changes, and no changes.

7. The voltage control method of the steering gear controller based on the nonlinear disturbance predictor according to claim 6, characterized in that: The rule base rule judgment includes: Determine whether the angle position deviation variable is a large error. If yes, determine whether the angle position deviation change rate variable is fast changing. If yes, increase the proportional parameter, integral parameter, and differential parameter. If no, determine whether the angle position deviation change rate variable is slow changing. If yes, increase the proportional parameter and integral parameter. If no, increase the proportional parameter. If not, it is determined whether the angle position deviation variable is a small error; if so, it is determined whether the angle position deviation change rate variable is a fast change; if so, the proportional parameter is increased; if not, it is determined whether the angle position deviation change rate variable is a slow change; if so, the proportional parameter and the differential parameter are increased; if not, the differential parameter is increased; If not, determine whether the angle position deviation change rate variable changes quickly. If so, reduce the proportional parameter, integral parameter, and differential parameter. If not, determine whether the angle position deviation change rate variable changes slowly. If so, reduce the proportional parameter and integral parameter. If not, reduce the proportional parameter.

8. A steering gear controller voltage control system based on a nonlinear interference predictor using the steering gear controller voltage control method based on a nonlinear interference predictor as claimed in claim 1, comprising a data acquisition module, a voltage control module, a deviation analysis module, and a deviation correction module, characterized in that: include: The data acquisition module is used to obtain the target angle position of the steering gear control and collect the DC bus voltage of the steering gear controller through the sensor; The voltage control module is used to obtain a stable DC bus voltage of the steering gear controller through a current feedforward nonlinear disturbance observation model according to the DC bus voltage of the steering gear controller; The deviation analysis module is used to obtain the steering gear angle position deviation and the steering gear angle position deviation change rate through the angle deviation analysis model according to the stable DC bus voltage of the steering gear controller; The deviation correction module is used to obtain the correct angle position of the steering gear control through the steering gear FA-PID model according to the steering gear angle position deviation and the steering gear angle position deviation change rate.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the servo controller voltage control method based on the nonlinear interference predictor as described in any one of claims 1-7 is implemented.

10. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the steering gear controller voltage control method based on the nonlinear disturbance predictor as described in any one of claims 1 to 7 when executed by a computer processor.

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