考虑延迟的汽车线控转向系统自适应内模控制

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刘文通, 陈俐, 陈峻

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

LIU Wentong, CHEN Li, CHEN Jun

表1 仿真参数设置

Tab.1 Parameters of simulation setting

参数	取值	参数	取值
a₂₀	0.1309	a₂₁	32.87
b₂₀	1107	R₁	$[\begin{array}{l} 1 \times 10^{- 4} \\ 1 \times 10^{- 4} \\ 1 \times 10^{- 4} \\ 1 \times 10^{- 4} \end{array}]$
P₀	$[\begin{array}{l} 1 \\ 1 \\ 1 \\ 1 \end{array}]$	R₂	1
λ	10	λ₁	10
n	3	Δt/ms	1