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Fractional order PID control for steer-by-wire system of emergency rescue vehicle based on genetic algorithm

Journal of Central South University 2019年第9期26卷 2340-2353页

作者： XU Fei-xiang LIU Xin-hui CHEN Wei ZHOU Chen CAO Bing-wei School of Mechanical and Aerospace Engineering Jilin UniversityChangchun 130022China

Aiming at dealing with the difficulty for traditional emergency rescue vehicle(ECV)to enter into limited rescue scenes,the electro-hydraulic steer-by-wire(SBW)system is introduced to achieve the multi-mode steering of the *** overall structure and mathematical model of the SBW system are described at *** fractional order proportional-integral-derivative(FOPID)controller based on fractional calculus theory is designed to control the steering cylinder’s movement in SBW *** anti-windup problem is considered in the FOPID controller design to reduce the bad influence of *** parameters of the FOPID controller are optimized using the genetic algorithm by maximizing the fitness function which involves integral of time by absolute value error(ITAE),peak overshoot,as well as settling *** time-domain simulations are implemented to identify the performance of the raised FOPID *** simulation results indicate the presented FOPID controller possesses more effective control properties than classical proportional-integral-derivative(PID)controller on the part of transient response,tracking capability and robustness.

关键词： steer-by-wire system emergency rescue vehicle fractional order proportional-integral-derivative(FOPID)controller parameter optimization genetic algorithm

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The Two-Mode Control for steer-by-wire system

The Two-Mode Control for Steer-by-Wire System

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第37届中国控制会议

作者： Junnan Mi Tong Wang Xiaomin Lian Department of Automotive Engineering Tsinghua University

steer-by-wire（SBW） system becomes a research focus for the improvement of vehicle performance by eliminating the mechanical linkage between steering wheel and steer-actuating mechanism. When SBW system is in power-off condition, the steer-actuating mechanism keeps a certain angle and remains immobilized while the steering wheel can still rotate because of the absence of the mechanical linkage. The steering wheel can rotate to a certain angle and will be locked by the steering column lock. This paper deals with the problem of asynchronization between steering wheel and steer-actuating mechanism at the start of system power-on condition by proposing the Two-Mode Control strategy for SBW system, which divides the control strategy into angle-synchronization mode control and steering mode control. The system enters the angle-synchronization mode at the start of power-on and then switches to the steering mode to execute the steering function. To verify the control strategy, a Simulink＆Car Sim co-simulation is carried out and the result of the Two-Mode Control shows that the asynchronization problem can be solved by the control strategy.

关键词： steer-by-wire system Two-Mode Control Angle Synchronization

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Shared Control of Highly Automated Vehicles Using steer-by-wire systems

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IEEE/CAA Journal of Automatica Sinica 2019年第2期6卷 410-423页

作者： Chao Huang Fazel Naghdy Haiping Du Hailong Huang the College of Information Science and Engineering Northeastern University the School of Electrical Computer and Telecommunications Engineering University of Wollongong

A shared control of highly automated steer-by-wire system is proposed for cooperative driving between the driver and vehicle in the face of driver's abnormal driving. A fault detection scheme is designed to detect the abnormal driving behaviour and transfer the control of the car to the automatic system designed based on a fault tolerant model predictive control(MPC) controller driving the vehicle along an optimal safe *** proposed concept and control algorithm are tested in a number of scenarios representing intersection, lane change and different types of driver's abnormal behaviour. The simulation results show the feasibility and effectiveness of the proposed method.

关键词： Driver behaviour highly automation shared control steer-by-wire system

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Kalman Filter-Based Fusion Estimation Method of steering Feedback Torque for steer-by-wire systems

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Automotive Innovation 2021年第4期4卷 430-439页

作者： Lin Zhang Qiang Meng Hong Chen Yanjun Huang Yang Liu Konghui Guo School of Automotive Studies Tongji UniversityShanghaiChina Clean Energy Automotive Engineering Center Tongji UniversityShanghaiChina KH Automotive Technologies Co LtdChangchunChina

Universal challenge lies in torque feedback accuracy for steer-by-wire systems,especially on uneven and low-friction ***,this paper proposes a fusion method based on Kalman filter that combines a dynamics-reconstruction method and disturbance observer-based *** dynamics-reconstruction method is designed according to the vehicle dynamics and used as the prediction model of the Kalman *** the disturbance observer-based method is performed as an observer model of the Kalman *** performance of all three methods is comprehensively evaluated in a hardware-in-the-loop *** results show that the proposed fusion method outperforms dynamics reconstruction method and disturbance observer-based ***,compared with the dynamics-reconstruction method,the root mean square error is reduced by 36.58%at the maximum on the flat *** with the disturbance observer-based method,the root mean square error is reduced by 39.11%at the maximum on different-friction and uneven road.

关键词： Kalman filter steering feedback torque estimation steer-by-wire system

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Optimal Control of Three-wheel steering Forklift with steer-by-wire

Optimal Control of Three-wheel Steering Forklift with Steer-...

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第36届中国控制会议

作者： Yang Liu Benxian Xiao Zhizheng Jiang Yigang He School of Electrical Engineering and Automation Hefei University of Technology Institute of Industry & Equipment Technology Hefei University of Technology

ISBN: (纸本)9781538629185

In order to improve the deficiency of traditional forklift steering system,dynamic model of two degree of freedom for three-wheel forklift is *** optimization of yaw rate is based on driver-forklift close-loop,and adopts comprehensive evaluation indexes of forklift handling and stability and genetic *** objective of this method is to zero sideslip angle and track the optimal yaw rate,and the sliding mode controller is designed to actively control steering angle of front and rear *** gain fuzzy modulation is developed to reduce *** closed-loop double-shift line simulation experiment with the front-rear wheel proportional control is carried out in MATLAB at the same *** results of simulation show that the three-wheel forklift under sliding mode control can achieve the control objective of both reducing the sideslip angle and tracking desired yaw rate,and improve the handling and stability of forklift,and effectively reduce the driver’s driving burden.

关键词： Three-wheel steering steer-by-wire system genetic algorithm sliding mode control chattering suppression handling stability

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