固定時間コマンドフィルターによる非線形双エンジンのステア・バイ・ワイヤ・システム
Qilong Wei1, Song Gao1, Liwei Shi1
1College of Transportation, Shandong University of Technology, Zibo 255000, China.
ISA transactions
|August 22, 2025
まとめ
この研究は,非線形性によって引き起こされる調整問題を克服するために,二重モーターのステア・バイ・ワイヤシステムの新しい制御戦略を導入します. 提案された方法は,ステア・バイ・ワイヤー技術の信頼性を高め,正確な協働操作を保証します.
科学分野:
- 自動車工学
- 制御システム
- ロボット
背景:
- ステアリング・バイ・ワイヤ (SBW) システムは利点がありますが,信頼性の課題に直面しています.
- デュアルモーター・ステア・バイ・ワイヤ (DMSBW) システムは,SBWの信頼性を向上させることを目的としています.
- DMSBWシステムの非線形性は 運動調整の問題を引き起こします
研究 の 目的:
- DMSBWシステムの強力な制御戦略を策定する.
- トーク,摩擦,反射などの非線形に対応します.
- DMSBWシステムで高精度の協力操作を実現する.
主な方法:
- DMSBWシステムの非線形モデルを確立しました.
- 非線形トルクを推定するために高増益オブザーバー (HGO) を使った.
- 補償信号を備えた固定時間の強固な後退制御装置を設計した.
- 制御の精度を高めるためにコマンドフィルターを組み込みました.
主要な成果:
- HGOは非線形トルクを正確に推定した.
- 固定時間コントローラは反射非線形性を効果的に補償した.
- 提案された戦略は,高精度の協同制御を達成しました.
- ハードウェア・イン・ザ・ループの実験で システムの性能が確認されました
結論:
- DMSBWシステムの信頼性を高めています.
- このアプローチは非線形ダイナミクスをうまく管理し,調整を改善します.
- この方法は,頑丈なステア・バイ・ワイヤ制御のための実行可能な解決策を提供します.
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