森林工程2025，Vol.41Issue(5)：1082-1091,10.DOI:10.7525/j.issn.1006-8023.2025.05.021
基于超螺旋滑模控制线控转向系统路感模拟电机控制
Road Sense Simulation Motor Control of Steering-by-wire System Based on Super Twisting Algorithm
摘要
Abstract
To address the issue that drivers cannot perceive road sense through the steering wheel in a steer-by-wire(SBW)system,a road sense simulation motor is employed to provide feedback on road conditions,enabling the driver to perceive road sense and effectively control the vehicle.This study establishes a dynamic model of the SBW system,uti-lizing the magic formula tire model to describe lateral force,calculate individual wheel slip angles,and determine the self-aligning torque of the wheels.Assist torque,limit torque,friction torque,and damping torque,are designed to ob-tain the road sense feedback torque of the SBW system.A super-twisting algorithm(STA)approach is implemented to track the current corresponding to the feedback torque,simulation and experimental tests are conducted to analyze ex-perimental results.The findings indicate that the self-aligning torque calculated using the magic formula tire model is highly accurate.The designed road sense simulation control algorithm meets the requirements of light steering at low speeds and clear,stable road sense at high speeds.Moreover,the robustness of the STA surpasses that of the propor-tional integration differentiation(PID)control.Compared with conventional sliding mode control,the proposed method effectively eliminates chattering effects.关键词
线控转向系统/路感模拟/回正力矩/超螺旋滑模控制/电流跟踪Key words
Steer-by-wire system(SBW)/road sense simulation/self-aligning torque/super twisting algorithm/current tracking分类
交通工程引用本文复制引用
阎春利,丁文廷..基于超螺旋滑模控制线控转向系统路感模拟电机控制[J].森林工程,2025,41(5):1082-1091,10.基金项目
国家自然科学基金项目(52175497). （52175497）
