双电机线控转向系统协调驱动控制研究OA北大核心

We take the dual-motor steering-by-wire(SBW)system as our research object and propose a dual-motor coordinated drive control strategy to address the poor tracking and synchronization in the dual-motor SBW system caused by load disturbance,parameter perturbation and dual-motor coupling.The strategy integrates automatic disturbance rejection control and sliding mode cross-coupling control.First,the structure and working mechanism of the dual-motor SBW system are analyzed,and its dynamic model is then built.Next,a second-order automatic disturbance rejection controller is designed to control the motor position.It integrates the position and speed loop of the motor control,solving the problem of non-adjustable speed parameters in traditional control methods.To improve the control performance of the second-order automatic disturbance rejection controller when system state changes,the fuzzy neural network algorithm dynamically optimizes the controller parameters,enhancing the adaptive ability of the control system.Moreover,a sliding mode speed coordination controller is designed based on the concept of cross coupling control,using the sliding mode control algorithm to address the asynchronous problem in the dual-motor system.Finally,the effectiveness of our proposed control strategy is verified through simulation analysis on the Carsim-Simulink joint simulation platform.