Yin Hao, Wang Zexian, Liu Jiang, Liu Peng
School of Mechanical and Automotive Engineering, Qingdao University of Technology, Qingdao, 266520, China.
Sci Rep. 2024 Nov 18;14(1):28536. doi: 10.1038/s41598-024-79703-6.
Steer-by-wire (SBW) is a crucial chassis electronic control system. Accurate and rapid wheel angle control is key to enhancing system performance. This paper first establishes a dynamics model of the steering actuator. Then, a co-simulation vehicle model with CarSim and Simulink is built, and the feasibility of the SBW model is experimentally verified. Based on this, a front wheel angle compensation difference tracking strategy is proposed using the front wheel steering angle control method. This strategy compensates for the difference between the actual and ideal front wheel steering angles to achieve the desired front wheel angle progressively. A dual-layer controller is designed in the Simulink module and integrated with the CarSim module to achieve closed-loop feedback control of the front wheel angle. The upper layer controller employs a fuzzy PID control method to execute the front wheel angle compensation strategy, enabling two corrections of the front wheel angle and yaw rate. The lower layer controller corrects wheel angle information to improve control effects. Simulation results under double lane change and single lane change conditions show that the fuzzy PID controller with front wheel angle compensation significantly enhances vehicle steering stability. Notably, at high speeds, the peak yaw rate is lower, convergence speed is faster, and response time is shorter.
线控转向（SBW）是一种关键的底盘电子控制系统。精确且快速的车轮角度控制是提升系统性能的关键。本文首先建立了转向执行器的动力学模型。然后，构建了一个结合CarSim和Simulink的联合仿真车辆模型，并通过实验验证了SBW模型的可行性。在此基础上，采用前轮转向角控制方法提出了一种前轮角度补偿差分跟踪策略。该策略补偿实际前轮转向角与理想前轮转向角之间的差异，以逐步实现期望的前轮角度。在Simulink模块中设计了一个双层控制器，并与CarSim模块集成，以实现前轮角度的闭环反馈控制。上层控制器采用模糊PID控制方法执行前轮角度补偿策略，能够对前轮角度和横摆率进行两次校正。下层控制器对车轮角度信息进行校正，以提高控制效果。双车道变换和单车道变换条件下的仿真结果表明，具有前轮角度补偿的模糊PID控制器显著提高了车辆转向稳定性。值得注意的是，在高速行驶时，横摆率峰值更低，收敛速度更快，响应时间更短。
