Research on SBW System's Control Method Based on SDRE Technique

China Mechanical Engineering ›› 2012, Vol. 23 ›› Issue (12): 1496-1501.

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Research on SBW System's Control Method Based on SDRE Technique

Chen Xin1,2;Zhang Guixiang1

1.The State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body,Hunan University,Changsha,410082
2.Hunan Institute of Humanities,Science and Technology,Loudi,Hunan,417000

Online:2012-06-25 Published:2012-06-29
Supported by:

National Natural Science Foundation of China（No. 51175159）;
Hunan Provincial Science and Technology program ( No. 2010GK3057)

基于SDRE方法的汽车线控转向系统控制方法研究

陈新1,2;张桂香1

1.湖南大学汽车车身先进设计制造国家重点实验室,长沙,410082
2.湖南人文科技学院,娄底,417000

基金资助:
国家自然科学基金资助项目（51175159）；湖南省科技计划资助项目（2010GK3057）
National Natural Science Foundation of China（No. 51175159）;
Hunan Provincial Science and Technology program ( No. 2010GK3057)

Abstract

Abstract:

This paper studied the controller of a SBW system via a SDRE technique.Based on the vehicle dynamics and the tire model,the state dependent coefficient(SDC) form of the SBW was established.Since the dynamic equations were highly non-linear,the controller was designed with a SDRE technique.
Finally,the controller was solved using θ-D method because it had outstanding computing efficiency and sufficient control accuracy.The simulation results show that the SDRE
method has better tracking precision and improves steering stability and reduces motor energy consumption.

Key words: vehicle dynamics, state-dependent Riccati equation(SDRE), &theta, -D method, steering-by-wire(SBW) system

摘要：

利用状态相关Riccati方程(SDRE)方法对汽车线控转向系统控制器进行研究。通过车辆动力学和轮胎模型,建立线控转向系统的状态相关系数结构 (SDC)方程;针对动力学方程具有高度非线性的特点,设计了基于SDRE方法的控制器;最后采用θ-D方法对SDRE控制器进行求解,以提高计算效率并保证足够的控制精度。实验平台仿真结果表明:采用SDRE方法设计的线控转向系统控制器具有较高的跟踪精度，可提高车辆操纵稳定性并减少电机能量消耗等。

关键词: 车辆动力学, SDRE, &theta, -D法, 线控转向(SBW)系统

CLC Number:

U461

CHEN Xin-1, 2, ZHANG Gui-Xiang-1. Research on SBW System's Control Method Based on SDRE Technique[J]. China Mechanical Engineering, 2012, 23(12): 1496-1501.

陈新1, 2, 张桂香1. 基于SDRE方法的汽车线控转向系统控制方法研究[J]. 中国机械工程, 2012, 23(12): 1496-1501.

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Research on SBW System's Control Method Based on SDRE Technique

基于SDRE方法的汽车线控转向系统控制方法研究

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