Research on modeling and compensation control strategy of automatic steering system

Area of Science:

• Automotive Engineering
• Control Systems Engineering
• Robotics

Background:

• Automatic steering systems face limitations in stability due to nonlinear interference.
• Understanding the nonlinear dynamics of vehicle and steering systems is crucial for performance.
• Tire structure mechanisms contribute to interference torque, varying with vehicle speed.

Purpose of the Study:

• To propose a novel compensation control strategy for automatic steering systems.
• To enhance controller performance under nonlinear interference conditions.
• To improve system stability, dynamic control effect, and tracking accuracy.

Main Methods:

• Introduction to the structure and mechanism of automatic steering systems.
• Establishment of nonlinear dynamic models for the steering system and vehicle.
• Derivation of interference torque models based on tire structure and vehicle speed.
• Simulations under varied road conditions and velocities to analyze nonlinear factor influence.
• Design and simulation-based validation of the compensation controller.

Main Results:

• Nonlinear factors significantly influence automatic steering system performance.
• The proposed compensation controller demonstrates improved dynamic control effects.
• Enhanced tracking accuracy was achieved with the novel controller.
• Simulation and test results validated the controller's effectiveness.

Conclusions:

• The novel compensation control strategy effectively addresses controller limitations in automatic steering systems.
• The developed controller significantly improves dynamic control and tracking accuracy under nonlinear interference.
• Validated simulation and test results confirm the controller's practical applicability.