Journal of Shanghai Jiao Tong University ›› 2021, Vol. 55 ›› Issue (10): 1210-1218.doi: 10.16183/j.cnki.jsjtu.2020.182

Special Issue: 《上海交通大学学报》2021年“交通运输工程”专题 《上海交通大学学报》2021年12期专题汇总专辑

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Adaptive Internal Model Control for Automotive Steer-by-Wire System with Time Delay

LIU Wentong, CHEN Li(), CHEN Jun   

  1. State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
  • Received:2020-06-15 Online:2021-10-28 Published:2021-11-01
  • Contact: CHEN Li


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

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