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

doi:10.16183/j.cnki.jsjtu.2020.182

Abstract

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

CLC Number:

U463

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.

Figures/Tables 10

Fig.1

Fig.2

Tab.1

Parameters of simulation setting

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

Tab.1

Fig.3

Fig.4

Tab.2

Fig.5

Fig.6

Fig.7

Tab.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