重庆理工大学学报2025，Vol.39Issue(15)：1-9,9.DOI:10.3969/j.issn.1674-8425(z).2025.08.001
融合局部加权回归与LQR控制的线控转向系统控制策略研究
Research on control strategy of steer-by-wire system based on local weighted regression and LQR control
摘要
Abstract
This paper proposes a steering by wire control strategy,which employs local weighted regression and spline interpolation to optimize the ideal transmission ratio and linear quadratic regulator(linear quadratic regulator,LQR)control algorithm,and realize the front wheel active steering control.Through Simulink and Carsim co-simulation,the steering-by-wire system is analyzed to verify its working stability.By fixing the yaw velocity gain and lateral acceleration gain,the ideal angular ratio control strategy is formulated.Meanwhile,the local weighted regression and spline interpolation are employed to smooth the designed angular ratio curve,ensuring the continuity and stability of the curve.On this basis,the LQR controller is designed to calculate the additional angle to compensate the instability of the vehicle during driving.The simulation results show the proposed control strategy effectively improves the maneuverability and stability of the vehicle.At a speed of 60 km/h,the peak yaw speed and centroid side deflection angle decrease by 35.7％and 36.3％respectively,further improving the adaptability of the vehicle under various complex road conditions.关键词
线控转向系统/线性二次型/理想传动比/局部加权回归/样条插值法Key words
drive-by-wire steering system/linear quadratic type/ideal transmission ratio/local weighted regression/spline interpolation meth分类
交通工程引用本文复制引用
潘公宇,刘艳旭..融合局部加权回归与LQR控制的线控转向系统控制策略研究[J].重庆理工大学学报,2025,39(15):1-9,9.基金项目
国家自然科学基金项目(52072157) （52072157）
