Abstract
The nonlinear friction, parameter perturbation and other inner or external disturbances existing in the hand-wheel actuator (HWA) of steer-by-wire system (SBW), have a bad effect on the torque feedback control of SBW. In this paper, a new torque feedback controller based on the active disturbance rejection control theory (ADRC) is proposed for the torque feedback control of the HWA of SBW. The ADRC controller includes three components: Tracking Differentiator (TD), Extended State Observer (ESO) and Nonlinear State Feedback (NLSF). It can estimate the inner and external disturbances including the nonlinear friction disturbance and compensate them in real time. The simulation results show that ADRC controller has better performance than PID controller in the robustness to the nonlinear friction disturbance.
F2012-G06-009
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Gao, G., Chen, H., Lou, L., Nakano, S. (2013). Torque Feedback Control for the Hand-Wheel Actuator of SBW Based on Active Disturbance Rejection Controller. In: Proceedings of the FISITA 2012 World Automotive Congress. Lecture Notes in Electrical Engineering, vol 198. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33795-6_32
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DOI: https://doi.org/10.1007/978-3-642-33795-6_32
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