重庆理工大学学报2026，Vol.40Issue(13)：21-30,10.DOI:10.3969/j.issn.1674-8425(z).2026.07.003
基于ESO-ISMC与KFRFO的线控转向路感反馈控制研究
Research on road sensing feedback control of steer-by-wire based on ESO-ISMC and KFRFO
摘要
Abstract
To improve the quality of road sensing simulation,this paper developed a principal torque compensation model based on the Kalman filter rack force observer(KFRFO).To improve the tracking accuracy of the ideal torque of the road induction motor,an angle controller for permanent magnet synchronous motors was developed integrating Extended State Observer(ESO)and integral sliding mode control(ISMC).Its performance was compared to the PID control with the same model parameters.The simulation and hardware-in-the-loop test results show the proposed model meets the requirements of low-speed portability with the double torsion lines and improves the steering sensitivity in the central area compared with the traditional EPS.The proposed ESO+ISMC control method achieves a tracking accuracy of over 99.8％at the peak and inflection points of the road sensing torque curve in the central area,providing high-precision road sensing feedback and some insights into the design of the steer-by-wire system.关键词
线控转向/路感/卡尔曼滤波/永磁同步电机/扩展状态观测器/积分滑模控制Key words
steer-by-wire/road sensing/Kalman filter/permanent magnet synchronous motor/ESO/ISMC分类
交通工程引用本文复制引用
张炳力,徐超,崔滔文,鹿庆刚,左云杰..基于ESO-ISMC与KFRFO的线控转向路感反馈控制研究[J].重庆理工大学学报,2026,40(13):21-30,10.基金项目
安徽省科技攻坚计划项目(重大项目)(202423e12050001) （重大项目）
安徽省科技创新攻坚计划项目(202523f12050012) （202523f12050012）
