Active front steering(AFS)system has been used as a promising technology which improves the steering portability and handing stability of vehicles.It employs a steering motor to realize the functions of variable steer...Active front steering(AFS)system has been used as a promising technology which improves the steering portability and handing stability of vehicles.It employs a steering motor to realize the functions of variable steering ratio and vehicle stability control.However,it has a serious problem of unexpected reaction hand wheel torque caused by the additional steering angle.In this paper,the optimum hand wheel torque is designed based on the linear tire model.Considering the uncertainty and disturbance of the steering system and vehicle,an H∞controller is developed to make sure the hand wheel torque follows the reference torque accurately and quickly.The simulation shows that the proposed controller can compensate the unnatural reaction torque and provide a good steering feel for the driver.展开更多
A control method of active front steering(AFS)based on active disturbance rejection technique was proposed for solving the model nonlinearity and parameter decoupling control in the traditional control methods.The AFS...A control method of active front steering(AFS)based on active disturbance rejection technique was proposed for solving the model nonlinearity and parameter decoupling control in the traditional control methods.The AFS controller consists of the proportional and derivative(PD)feed-forward controller and the active disturbance rejection feedback controller.To improve the steering response characteristics of a vehicle,a PD controller is designed to realize variable steering gear ratio,and to enhance the safety of vehicle when steering.An active disturbance rejection controller(ADRC)is designed to follow the expected yaw rate of the vehicle.According to the input and output of system,extended state observer(ESO)of ADRC can dynamically estimate internal and external disturbance of the system,thus easily realizing the model nonlinear and parameter decoupling control.The AFS controller is simulated and validated in Matlab and CarSim.The simulating results of double lane change(DLC)test and pylon course slalom(PCS)test show that the ADRC can well control the vehicle model to complete the road simulation test of DLC and PCS with small path tracking error.The simulating results of angle step test of steering wheel show that the vehicle under the control of ADRC demonstrates good lateral response characteristic.The controller regulates a wide range of parameters.The model has less precision requirements with good robustness.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.51375007 and 51205191)NUAA Research Funding(Grant No.NS2013015)
文摘Active front steering(AFS)system has been used as a promising technology which improves the steering portability and handing stability of vehicles.It employs a steering motor to realize the functions of variable steering ratio and vehicle stability control.However,it has a serious problem of unexpected reaction hand wheel torque caused by the additional steering angle.In this paper,the optimum hand wheel torque is designed based on the linear tire model.Considering the uncertainty and disturbance of the steering system and vehicle,an H∞controller is developed to make sure the hand wheel torque follows the reference torque accurately and quickly.The simulation shows that the proposed controller can compensate the unnatural reaction torque and provide a good steering feel for the driver.
基金supported by the National Natural Science Foundation of China(No.51205191)
文摘A control method of active front steering(AFS)based on active disturbance rejection technique was proposed for solving the model nonlinearity and parameter decoupling control in the traditional control methods.The AFS controller consists of the proportional and derivative(PD)feed-forward controller and the active disturbance rejection feedback controller.To improve the steering response characteristics of a vehicle,a PD controller is designed to realize variable steering gear ratio,and to enhance the safety of vehicle when steering.An active disturbance rejection controller(ADRC)is designed to follow the expected yaw rate of the vehicle.According to the input and output of system,extended state observer(ESO)of ADRC can dynamically estimate internal and external disturbance of the system,thus easily realizing the model nonlinear and parameter decoupling control.The AFS controller is simulated and validated in Matlab and CarSim.The simulating results of double lane change(DLC)test and pylon course slalom(PCS)test show that the ADRC can well control the vehicle model to complete the road simulation test of DLC and PCS with small path tracking error.The simulating results of angle step test of steering wheel show that the vehicle under the control of ADRC demonstrates good lateral response characteristic.The controller regulates a wide range of parameters.The model has less precision requirements with good robustness.
