摘要
线控转向(Steer-by-Wire, SbW)作为智能底盘核心执行机构,其机电高度集成特性对建模精度与控制可靠性提出严峻挑战。本文构建融合转向执行机构动力学、永磁同步电机电磁特性及轮胎回正力反馈的多域耦合模型,引入闭环电子子系统以提升保真度。设计基于自适应滑模控制(ASMC)的鲁棒控制器,抑制参数不确定性与外部扰动。通过dSPACE SCALEXIO平台搭建硬件在环(HIL)测试系统验证,结果表明模型可准确复现典型工况动态响应,控制器在±30%参数摄动下仍保持稳定,有效支撑ISO 26262流程验证,提升开发效率与系统可信度。
As a core actuator of intelligent chassis,steer-by-wire(SbW)presents severe challenges to modeling accuracy and control reliability due to its high electromechanical integration characteristics.This paper constructs a multi-domain coupled model integrating steering actuator dynamics,permanent magnet synchronous motor electromagnetic characteristics,and tire self-aligning force feedback,introducing a closed-loop electronic subsystem to enhance fidelity.A robust controller based on adaptive sliding mode control(ASMC)is designed to suppress parameter uncertainties and external disturbances.Verification is conducted through a hardware-in-the-loop(HIL)testing system built on the dSPACE SCALEXIO platform.Results demonstrate that the model accurately reproduces dynamic responses under typical operating conditions,while the controller maintains stability even with±30%parameter perturbations,effectively supporting ISO_(2)6262 process validation and improving development efficiency and system reliability.
作者
申艳娇
Shen Yan-jiao(Qinhuangdao Industrial Vocational Technical College,Hebei Qinhuangdao 066000)
出处
《内燃机与配件》
2026年第5期24-26,共3页
Internal Combustion Engine & Parts
关键词
线控转向
机电耦合建模
自适应滑模控制
硬件在环仿真
智能底盘
Steer-by-wire
Electromechanical coupling modeling
Adaptive sliding mode control
Hardware-in-the-loop simulation
Intelligent chassis
