The invention discloses a dual-motor steer-by-wire system and a synchronous control method thereof, and the system comprises a steering wheel angle sensor which is used for obtaining a steering wheel angle signal and transmitting the steering wheel angle signal to a variable transmission ratio module; the vehicle control unit comprises a variable transmission ratio module and a virtual main shaft synchronous controller; the steering actuator comprises a steering motor, a steering motor speed reducer, a pinion, a steering motor controller, a current Hall sensor, a Hall sensor, a rack, a steering tie rod, a left front wheel, a right front wheel and a vehicle speed sensor; according to the method, parameter perturbation, load nonlinearity and time-varying and time-lag existing in the dual-motor steer-by-wire system are adaptively controlled, an adaptive nonsingular fast terminal disturbance controller and a super-spiral optimal time-lag compensator are designed, and meanwhile, a disturbance value observed by an extended state observer is introduced; therefore, the controller can effectively cope with the disturbance value and time-varying time-lag of each motor, and the tracking performance of the steering motor and the synchronization performance of the dual-motor steer-by-wire system are ensured.
本发明公开了一种双电机线控转向系统及其同步控制方法,系统包括:方向盘转角传感器,用于获取方向盘转角信号,并将其传递给变传动比模块;整车控制器包括:变传动比模块和虚拟主轴同步控制器;转向执行器包括:转向电机、转向电机减速器、小齿轮、转向电机控制器、电流霍尔传感器、霍尔传感器、齿条、转向横拉杆、左前轮、右前轮、车速传感器;本发明对双电机线控转向系统存在的参数摄动、负载非线性以及时变时滞进行自适应控制,设计了自适应非奇异快速终端扰动控制器和超螺旋最优时滞补偿器,同时引入扩张状态观测器所观测的扰动值,使控制器能够有效应对每台电机的扰动值和时变时滞,保证转向电机的跟踪性能和双电机线控转向系统的同步性能。
Dual-motor steer-by-wire system and synchronous control method thereof
一种双电机线控转向系统及其同步控制方法
2024-03-29
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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