Practical Synchronous Steering Angle Control of a Dual-Motor Driving Steer-by-Wire System

Abstract

Recently, dual-motor driving steer-by-wire (SbW) systems have been introduced and have received considerable attention because they can overcome the limitations of single motor driving SbW systems, which cannot provide large torques required by commercial vehicles and are vulnerable to faults. The two main issues on the performance of the dual-motor driving SbW systems is to ensure steering robustness against model uncertainties, external disturbances, and road condition changes and to synchronize the steering angle. In this paper, a sliding mode controller (SMC) with a disturbance observer (DOB) under master-slave control is proposed to tackle these issues. The combination of an SMC and a DOB is employed to guarantee strong robustness against model uncertainties and external disturbances. In addition, masterslave control is applied to enhance the synchronization performance of dual motor driving SbW systems with significantly different dynamic and response characteristics. Comparative experimental studies are conducted to verify the excellent performance of the proposed control scheme for dual-motor driving SbW systems.

A model predictive control approach for angle tracking of steer‐by‐wire system with nonlinear transmission ratio

“…𝜃 i + T wtd (10) where T i is the input torque of driven pulley and r i is radius of driven pulley. I i is inertia of driven pulley.…”

“…And in their work [9], Sun et al proposed a nested adaptive super-twisting SMC approach to deal with complex time-varying external disturbances, which promotes the tracking accuracy and alleviates the chattering phenomenon. As for the angle tracking control of hub wheels, Hwang et al and Kim et al developed a SMC that indicates good performance of angle tracking [10,11]. Iqbal et al combined adaptive SMC and Kalman filter to estimate the vehicle states and cornering stiffness coefficients [12].…”

Research on stability identification algorithm of autonomous vehicle based on data driven

“…The switch opening represents the percentage of the total stroke of the switch pedal; the brake pedal opening represents the percentage of the brake pedal stroke to the total stroke. In order to ensure the safety and repeatability of the experiments [14][15][16] , this paper builds a stability information acquisition system for autonomous vehicles based on the dSPACE real-time simulation platform.…”

Study on new frequency conversion control system and power balance control method of dual-motor for shearer traction unit

“…The synchronous control coefficients K1 and K2 are used to compensate each motor to achieve balanced control of the output torque. Hwang et al 8 proposed a master-slave controller disturbance observer based sliding mode controller to ensure synchronous steering. A combination of disturbance observer and sliding mode controller is used to ensure strong robustness to model uncertainty and external disturbances.…”