Liu Changrui, Sun Weichao, Zhang Jinhua
Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin 150001, China.
ISA Trans. 2020 Jan;96:103-115. doi: 10.1016/j.isatra.2019.06.027. Epub 2019 Jul 11.
In this paper, the modeling of front wheels Steer-by-Wire (SBW) system is further developed into 4-wheel SBW (4WSBW) system for electric vehicles with Ackerman Geometry taken into consideration. Moreover, a novel adaptive integral terminal sliding mode control (AITSMC) scheme is presented to control the wheel steering angles in both single-wheel situation and four-wheel situation. Based on Lyapunov criterion, stability proof guarantees that the tracking error in closed-loop converges to zero in finite time. In comparison with Proportional-Integral-Derivative (PID) based control, terminal sliding mode control (TSMC) and adaptive TSMC (ATSMC), the proposed control scheme only requiring information of the inertia of the wheels and the motors possesses two major advantages. First, robustness and finite-time convergence are ensured without obtaining information of disturbances caused by road conditions and parameters of viscous friction. Second, tracking error is further suppressed with noise impact in feedback loop caused by sensors while maintaining fast convergence rate. The synthesized performance of the 4WSBW vehicles is significantly improved and numerical simulations are conducted on the dynamic model of the system to corroborate the merits of the proposed control scheme.
本文将前轮线控转向（SBW）系统的建模进一步拓展为适用于电动汽车的四轮线控转向（4WSBW）系统，并考虑了阿克曼几何原理。此外，提出了一种新颖的自适应积分终端滑模控制（AITSMC）方案，用于在单轮和四轮情况下控制车轮转向角。基于李雅普诺夫准则的稳定性证明确保了闭环中的跟踪误差在有限时间内收敛到零。与基于比例积分微分（PID）的控制、终端滑模控制（TSMC）和自适应TSMC（ATSMC）相比，所提出的控制方案仅需要车轮和电机的惯性信息，具有两个主要优点。首先，无需获取由路况和粘性摩擦参数引起的干扰信息，即可确保鲁棒性和有限时间收敛。其次，在保持快速收敛速率的同时，进一步抑制了传感器在反馈回路中产生噪声影响时的跟踪误差。4WSBW车辆的综合性能得到显著提高，并在系统动态模型上进行了数值模拟，以证实所提出控制方案的优点。
