Precise,prompt,and comfortable road feel information feedback is crucial in the steer-by-wire(SBW)system to ensure safe and satisfactory experiences for drivers in intelligent vehicles.This paper presents an enhanced ...Precise,prompt,and comfortable road feel information feedback is crucial in the steer-by-wire(SBW)system to ensure safe and satisfactory experiences for drivers in intelligent vehicles.This paper presents an enhanced rack force observer-based road feel feedback torque control approach for the SBW system.Firstly,to perform accurate and timely rack force estimation under varying conditions,two improved observers are proposed,namely,a linear reduced-order extended disturbance observer(ROEDO)and a nonlinear super-twisting sliding mode observer(STSMO)with parameter tuning based on a particle swarm optimization(PSO)algorithm.Besides,an improved rapid tracking differentiator(IRTD)is applied to derive accurate and low-delay rack displacement differential signals for the observers.Next,the performance of these observers is evaluated through simulations across diverse conditions to identify one suitable observer for road feel feedback torque rebuild.Simulation results indicate that the ROEDO exhibits superior efficacy.Furthermore,a vehicle speed-based low-pass filter that extracts effective information from the estimated rack forces is applied to ensure driver comfort.Then,the road feel is formulated by combining the main torque with variable road feel strength and compensation torque to achieve a high-quality road feel.Finally,hardware-in-the-loop(HIL)experiments are carried out,and the test results validate the effectiveness of the designed road feel control algorithm in providing the driver with a timely and comfortable road feel and in facilitating real-time implementation.展开更多
基金supported in part by the Jilin Province Science and Technology Department Program of China under Grant(No.20230101121JC)in part by the FAW Volkswagen China Environmental Protection Foundation Automotive Environmental Protection Innovation Leadership Program.
文摘Precise,prompt,and comfortable road feel information feedback is crucial in the steer-by-wire(SBW)system to ensure safe and satisfactory experiences for drivers in intelligent vehicles.This paper presents an enhanced rack force observer-based road feel feedback torque control approach for the SBW system.Firstly,to perform accurate and timely rack force estimation under varying conditions,two improved observers are proposed,namely,a linear reduced-order extended disturbance observer(ROEDO)and a nonlinear super-twisting sliding mode observer(STSMO)with parameter tuning based on a particle swarm optimization(PSO)algorithm.Besides,an improved rapid tracking differentiator(IRTD)is applied to derive accurate and low-delay rack displacement differential signals for the observers.Next,the performance of these observers is evaluated through simulations across diverse conditions to identify one suitable observer for road feel feedback torque rebuild.Simulation results indicate that the ROEDO exhibits superior efficacy.Furthermore,a vehicle speed-based low-pass filter that extracts effective information from the estimated rack forces is applied to ensure driver comfort.Then,the road feel is formulated by combining the main torque with variable road feel strength and compensation torque to achieve a high-quality road feel.Finally,hardware-in-the-loop(HIL)experiments are carried out,and the test results validate the effectiveness of the designed road feel control algorithm in providing the driver with a timely and comfortable road feel and in facilitating real-time implementation.
