重庆理工大学学报（自然科学版）2018，Vol.32Issue(5)：19-26,8.DOI:10.3969/j.issn.1674-8425(z).2018.05.003
主动转向系统的变传动比设计及电机控制研究
Research on Variable Transmission Ratio Design and Motor Control of Active Steering System
摘要
Abstract
Aiming at the problem that the traditional variable ratio curve will cause the motor angular acceleration fluctuation and the requirement of the fast response and strong robustness of the active front steering system,we firstly use the idea of function model to construct the arctangent function model,and then fit the variable transmission ratio curve with the steady-state steering system gain by the least square method,so that the two approximately reach the best approximation in this paper. Then,a global fast terminal sliding mode robust control law is designed to track the motor angular displacement signal according to the curve of fitted variable ratio.Finally,the simulation model of Matlab /Simulink is established.Compared with the PID algorithm,the global fast Terminal sliding mode control algorithm has fast response,no overshoot and no chattering.It can accurately and quickly track the position signal under various working conditions.The analysis shows that fitting the variable ratio curve can obviously improve the motor angular acceleration fluctuation.The global fast terminal sliding mode algorithm is suitable for the angular displacement control of the active front steering system.关键词
主动转向/变传动比/反正切函数/最小二乘法/全局快速Terminal滑模Key words
active front steering/variable transmission ratio/arctangent function/least squares method/global quick Terminal sliding mode分类
交通工程引用本文复制引用
李志鹏,单长伟,那少聃,奚文龙..主动转向系统的变传动比设计及电机控制研究[J].重庆理工大学学报（自然科学版）,2018,32(5):19-26,8.基金项目
国家自然科学基金资助项目(16051575097) （16051575097）
黑龙江省自然科学基金资助项目(16041314602) （16041314602）
