考虑延迟的汽车线控转向系统自适应内模控制

doi:10.16183/j.cnki.jsjtu.2020.182

摘要/Abstract

摘要：

针对线控转向系统中的未知与不确定延迟,基于内模控制思想设计自适应控制策略,提高转角跟踪精度.为避免引入非最小相位项,提出采用全极点方法近似延迟环节,将延迟模型与线控转向系统模型相结合,构建新的名义模型,引入Kalman滤波方法辨识名义模型参数,实时更新内模控制的逆控制器增益.仿真和台架试验结果表明,与逆控制器未计入延迟的传统内模控制和经典比例、积分、微分(PID)控制相比较,考虑延迟的自适应内模控制跟踪误差较小,对延迟变化的适应能力较强.

关键词: 线控转向系统, 延迟, 自适应, 内模控制

Abstract:

Aimed at the unknown and uncertain time delay in the steer-by-wire system, an adaptive control strategy is designed based on the internal model control framework to improve the tracking accuracy of the steering angle. Without inducing non-minimum terms, a novel nominal model is established by connecting the model of the steer-by-wire system and the linearized delay model using the all pole approximation method. The Kalman filter algorithm is designed to identify the nominal model parameters and to update in real time. Thereafter, the parameters in the inverse controller of internal model controller are tuned online. The simulation and bench test results show that compared with the traditional internal model control whose inverse control discards time delay and the classical proportion integration differentiation (PID) control, the proposed adaptive internal model control considering time delay can obtain a better tracking accuracy and has a stronger adaptability to the change of time delay.

Key words: steer-by-wire system, time delay, adaptive, internal model control

中图分类号:

U463

刘文通, 陈俐, 陈峻. 考虑延迟的汽车线控转向系统自适应内模控制[J]. 上海交通大学学报, 2021, 55(10): 1210-1218.

LIU Wentong, CHEN Li, CHEN Jun. Adaptive Internal Model Control for Automotive Steer-by-Wire System with Time Delay[J]. Journal of Shanghai Jiao Tong University, 2021, 55(10): 1210-1218.

图/表 10

图1

图2

表1

仿真参数设置

参数	取值	参数	取值
a₂₀	0.1309	a₂₁	32.87
b₂₀	1107	R₁	$1 × 10 - 4 1 × 10 - 4 1 × 10 - 4 1 × 10 - 4$
P₀	$1111$	R₂	1
λ	10	λ₁	10
n	3	Δt/ms	1

表1

图3

图4

表2

图5

图6

图7

表3

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τ/ms	控制算法	t₁/s	t₂/s	ω/(°)
50	AIMC	0.85	1.06	0
	IMC	0.58	1.33	0.535
	PID	0.48	3.63	2.694
100	AIMC	0.64	1.24	0.011
	IMC	0.55	1.80	1.715
	PID	0.45	4.88	3.167

τ/ms	控制算法	t₁/s	t₂/s	ω/(°)
0	AIMC	0.44	0.77	0.658
	IMC	0.43	0.84	1.241
	PID	0.30	4.60	2.123
100	AIMC	0.45	1.21	1.487
	IMC	0.42	∞	8.941
	PID	0.34	4.95	10.172