Research on Road Sense Simulation Control of Steering-by-Wire Based on Sliding Mode Control
Abstract
:1. Introduction
- Aiming at the inaccuracy and oscillation of the road-sensing moment, the source of road-sensing is analyzed, and the kinetics is used to model the back-correcting moment by combining the Magic Formula and the linear two-degree-of-freedom vehicle model, based on which the power-assisted characteristic curves of electric power steering vehicles are added, and auxiliary moments and damping moments are added to simulate real road-sensing.
- To improve the response speed of the system and reduce current oscillations, a sliding mode control (SMC) strategy is used to ensure that the current converges in a finite period of time. The SMC also tracks the road-sensing to simulate the motor currents. The performance of the controller is verified by comparing and evaluating it with a PI controller and a fuzzy PID controller under different operating conditions.
2. Dynamic Modelling of Systems
2.1. Steering Wheel System
2.2. Steering Actuator System
2.3. Two-Degree-of-Freedom (TDF) Vehicle Model
3. Road Sense Feedback Torque Design
3.1. Calculation of Self-Aligning Torque
3.2. Assist Torque Design
3.3. Design of Damping and Friction Torque
3.4. Simulation Tests
4. PID and SMC Strategy
4.1. PID Control Strategy
4.2. Design of Sliding Mode Controller
4.3. Closed-Loop Stability Analysis
5. Simulation Test
5.1. Double Lane Change Test Conditions
5.2. Step Test Conditions
6. Conclusions
- In the study of road sense simulation algorithms for steer-by-wire, the mainstream three methods include the use of sensors, the establishment of dynamics models, and parameter fitting. Compared with the other two methods, the road sense simulation algorithm proposed in this paper is built on the basis of a nonlinear two-degree-of-freedom vehicle model derived from the Magic Formula, with the addition of the return torque, damping torque, and friction torque, and the accuracy of the model is verified using the Carsim/Simulink co-simulation method. Post-validation, the algorithm enhances response and accelerates convergence, and the maximum steering wheel moment is slightly reduced, thus providing a robust basis for road-sensing simulations.
- This study mainly focuses on the current control strategy of the road-sensing analogue motor and utilizes the sliding mode control method to improve the tracking performance of the current. Through the joint simulation, the sliding mode control controller is compared with PI controller and fuzzy PID controller, and the simulation results show that the designed sliding mode control controller still has good tracking effect at different speeds and under different working conditions, and the overshoot is smaller than both, which can better satisfy the real-time control requirements of the line steering road-sensing simulation.
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Symbol | Value | Unit |
---|---|---|
m | 1270 | kg |
Iz | 1536.7 | kg·m2 |
k1 | −58,058.06 | N/rad |
k2 | −31,092.4 | N/rad |
a | 1.015 | m |
b | 1.895 | m |
Name | Front Axle Tire | Rear Axle Tire | Self-Aligning Torque |
---|---|---|---|
SSE | 42.233 | 13.001 | 1.9903 |
R-square | 0.9999 | 0.9999 | 0.99984 |
Adjusted R-square | 0.9999 | 0.9999 | 0.99986 |
RMSE | 1.6266 | 0.90142 | 0.3527 |
Name | SMC | PI | Fuzzy PID |
---|---|---|---|
Maximum current (A) | 3.5 | 3.478 | 3.496 |
Maximum error (A) | 0.0003 | 0.0453 | 0.0135 |
Maximum deviation (%) | 0.09 | 1.294 | 0.38 |
Name | SMC | PI | Fuzzy PID |
---|---|---|---|
Maximum current (A) | 7.8747 | 7.508 | 7.891 |
Maximum error (A) | 0.0168 | 0.152 | 0.038 |
Maximum deviation (%) | 0.21 | 1.9 | 0.49 |
Name | SMC | PI | Fuzzy PID |
---|---|---|---|
Rising time (s) | 0.017 | 0.0175 | 0.037 |
Overshoot (%) | 0.789 | 1.512 | 0.92 |
Steady value | −13.9 | −13.9 | −13.9 |
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Share and Cite
Hou, S.; An, K.; Zheng, Z.A.; Qin, Y.; Xie, Q. Research on Road Sense Simulation Control of Steering-by-Wire Based on Sliding Mode Control. World Electr. Veh. J. 2025, 16, 175. https://doi.org/10.3390/wevj16030175
Hou S, An K, Zheng ZA, Qin Y, Xie Q. Research on Road Sense Simulation Control of Steering-by-Wire Based on Sliding Mode Control. World Electric Vehicle Journal. 2025; 16(3):175. https://doi.org/10.3390/wevj16030175
Chicago/Turabian StyleHou, Suojun, Kang An, Zhu An Zheng, Yaning Qin, and Qichang Xie. 2025. "Research on Road Sense Simulation Control of Steering-by-Wire Based on Sliding Mode Control" World Electric Vehicle Journal 16, no. 3: 175. https://doi.org/10.3390/wevj16030175
APA StyleHou, S., An, K., Zheng, Z. A., Qin, Y., & Xie, Q. (2025). Research on Road Sense Simulation Control of Steering-by-Wire Based on Sliding Mode Control. World Electric Vehicle Journal, 16(3), 175. https://doi.org/10.3390/wevj16030175