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首页> 外文期刊>IEEE Transactions on Industrial Electronics >Sliding Mode Control for Steer-by-Wire Systems With AC Motors in Road Vehicles
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Sliding Mode Control for Steer-by-Wire Systems With AC Motors in Road Vehicles

机译：道路车辆中带有交流电动机的线控转向系统的滑模控制

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摘要

In this paper, the modeling of steer-by-wire (SbW) systems is further studied, and a sliding mode control scheme for the SbW systems with uncertain dynamics is developed. It is shown that an SbW system, from the steering motor to the steered front wheels, is equivalent to a second-order system. A sliding mode controller can then be designed based on the bound information of uncertain system parameters, uncertain self-aligning torque, and uncertain torque pulsation disturbances, in the sense that not only the strong robustness with respect to large and nonlinear system uncertainties can be obtained but also the front-wheel steering angle can converge to the handwheel reference angle asymptotically. Both the simulation and experimental results are presented in support of the excellent performance and effectiveness of the proposed scheme.
机译：本文进一步研究了线控转向（SbW）系统的建模，并为动态不确定的SbW系统开发了一种滑模控制方案。结果表明，从转向马达到转向前轮的SbW系统等效于二阶系统。然后，可以基于不确定的系统参数，不确定的自对准扭矩和不确定的扭矩脉动扰动的边界信息来设计滑模控制器，在这种意义上，不仅可以获得针对大型和非线性系统不确定性的强大鲁棒性而且前轮转向角也可以渐近收敛到手轮参考角。给出了仿真和实验结果，以支持所提出方案的出色性能和有效性。

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