比较各种角度跟踪算法以平衡线控转向系统的性能和噪声

IF 1.5 4区 工程技术 Q3 ENGINEERING, MECHANICAL International Journal of Automotive Technology Pub Date : 2024-02-21 DOI:10.1007/s12239-024-00038-2
He Liu, Yahui Liu, Jingyuan Li, Xuewu Ji
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摘要

本文比较了各种角度跟踪算法,以平衡线控转向(SBW)系统的性能和噪音。直接而安静的转向体验可提高驾驶员对 SBW 系统的接受度。我们开发了线性二次调节器(LQR)控制、鲁棒控制和传统级联比例积分(PI)控制,并对其进行了理论和实验比较。为了避免费时费力的参数调整过程,建立了一个高保真转向阻力模型,该模型由线性两自由度车辆模型和动态 LuGre 摩擦模型组成。在 Matlab/Simulink 环境中模拟阶跃和正弦波测试,以确定各种方法的合理参数区域。然后,在原型 SBW 车辆上实现了三种算法,并在相同场景下进行了比较。最后,详细说明了模拟和实验结果。根据控制带宽、稳态误差、驾驶舱声音和电流波形等指标可以看出,LQR 和鲁棒控制可以实现更快的响应和更可接受的噪声,但跟踪误差不确定且相对较大。相比之下,级联 PI 控制可实现较小的稳态误差和较平缓的电流波形,但噪声较小,响应速度较慢。
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Comparison of Various Angle-Tracking Algorithms to Balance Performance and Noise for a Steering-by-Wire System

This paper compares various angle-tracking algorithms to balance the performance and noise for a steering-by-wire (SBW) system. Direct and quiet steering experiences can improve drivers’ acceptance of the SBW system. Linear quadratic regulator (LQR) control, robust control, and conventional cascade proportional–integral (PI) control have been developed and compared both theoretically and experimentally. To avoid the risky and time-consuming parameter-tuning process, a high-fidelity steering resistance model, which comprises a linear two-degree-of-freedom vehicle model and a dynamic LuGre friction model is established. Step and sine wave tests are simulated in a Matlab/Simulink environment to determine the reasonable parameter region for various methods. Then, the three types of algorithms are implemented on a prototype SBW vehicle and compared under the same scenarios. Finally, the simulated and experimental results are illustrated in detail. According to the indicators of control bandwidths, steady-state errors, cockpit sounds, and current waveforms, it is clear that LQR and robust control can achieve faster response and more acceptable noise, with uncertain and relatively larger tracking errors. Cascade PI control, in comparison, can realize smaller steady-state errors and gentler current waveforms, with slight noise and slower response.

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来源期刊
International Journal of Automotive Technology
International Journal of Automotive Technology 工程技术-工程:机械
CiteScore
3.10
自引率
12.50%
发文量
129
审稿时长
6 months
期刊介绍: The International Journal of Automotive Technology has as its objective the publication and dissemination of original research in all fields of AUTOMOTIVE TECHNOLOGY, SCIENCE and ENGINEERING. It fosters thus the exchange of ideas among researchers in different parts of the world and also among researchers who emphasize different aspects of the foundations and applications of the field. Standing as it does at the cross-roads of Physics, Chemistry, Mechanics, Engineering Design and Materials Sciences, AUTOMOTIVE TECHNOLOGY is experiencing considerable growth as a result of recent technological advances. The Journal, by providing an international medium of communication, is encouraging this growth and is encompassing all aspects of the field from thermal engineering, flow analysis, structural analysis, modal analysis, control, vehicular electronics, mechatronis, electro-mechanical engineering, optimum design methods, ITS, and recycling. Interest extends from the basic science to technology applications with analytical, experimental and numerical studies. The emphasis is placed on contributions that appear to be of permanent interest to research workers and engineers in the field. If furthering knowledge in the area of principal concern of the Journal, papers of primary interest to the innovative disciplines of AUTOMOTIVE TECHNOLOGY, SCIENCE and ENGINEERING may be published. Papers that are merely illustrations of established principles and procedures, even though possibly containing new numerical or experimental data, will generally not be published. When outstanding advances are made in existing areas or when new areas have been developed to a definitive stage, special review articles will be considered by the editors. No length limitations for contributions are set, but only concisely written papers are published. Brief articles are considered on the basis of technical merit.
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