Sliding Mode Control with New Reaching Law for Vehicle Steer-by-Wire System

被引：0
|
作者：
Huang H. [1 ]
Gao Y. [1 ,2 ]
Wang W. [1 ,2 ]
Yang C. [1 ,2 ]
机构：
[1] School of Mechanical Engineering, Beijing Institute of Technology, Beijing
[2] Chongqing Innovation Center, Beijing Institute of Technology, Chongqing
来源：
Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology | 2023年 / 43卷 / 08期
关键词：
intelligent unmanned vehicle; path following; sliding mode control (SMC); sliding mode reaching law; steer-by-wire (SBW);
D O I：
10.15918/j.tbit1001-0645.2022.172
中图分类号：
学科分类号：
摘要：
Path tracking is one of key technologies for intelligent unmanned vehicles, in which the precise control of steer-by-wire (SBW) system is an important factor affecting the accuracy of path tracking. In order to improve the dynamic response performance of SBW system and the accuracy of path tracking under unknown disturbance, an improved sliding mode control method based on a new reaching law is designed and applied to SBW system. Firstly, the mathematical model of SBW system is established considering model uncertainty, system friction and rack force. Secondly, the design principle of sliding mode reaching law is analyzed and obtained. A new sliding mode reaching law is constructed by designing and adding parameter adjusting function. It can adjust the reaching speed dynamically and its performance in discrete form is compared and analyzed. Finally, an improved sliding mode control method is designed for SBW system. Simulation and test results show that the improved sliding mode control method can optimize the dynamic response performance of SBW system for steering wheel angle, and improve the path tracking accuracy. © 2023 Beijing Institute of Technology. All rights reserved.
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页码：773 / 782
页数：9
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