Active Disturbance Rejection Control of Steering Wheel Torque in Integrated Electric-Hydraulic Steering System

Aiming at the poor road feel of integrated electro-hydraulic steering (IEHS) system in commercial vehicles caused by nonlinearity, time-varying parameters and exterior interference etc., an active disturbance rejection control (ADRC) strategy for IEHS system is proposed with the ideal steering wheel torque as the target. On the basis of analyzing structure principle, a mathematical model for the system is built, and according to the steering performance requirements of commercial vehicles, the ideal steering wheel torque of driver is determined based on the speed and lateral acceleration, and with which as the control target, the ADRC control is adopted to track the target hand force. A comparative simulation on the proposed strategy with different disturbances applied and PID control is conducted. The results show that the ADRC algorithm proposed can well track the steering wheel torque with higher disturbance resistance capability than PID control, so effectively enhancing the robustness of closed-loop tracking control for steering wheel torque. © 2021, Society of Automotive Engineers of China. All right reserved.