Steering control of a steer-by-wire system vehicle with time delay and actuator saturation via anti-windup controller

Engineering and Applied Science Research

关键词: Actuator saturation;    Anti-windup control;    Steer-by-wire;    Time delays;   

DOI  :  10.14456/easr.2019.9

来源: DOAJ

【 摘 要 】

This paper presents a design of an anti-windup controller that aims to improve vehicle handling and stability of a Steer-by-Wire (SbW) systemwith consideration of time delays and actuator saturation. Due to the physical constraints of road wheel steeringactuators,controlsaturationisconsideredincontrollerdesign. Acontrollerthatisdesignedwithout a saturation condition, and is only to operate in a linear region might have significantly deterioratedperformance in the presence of actuatorsaturation.Inthisstudy, an anti-windupcontroller employingaback-calculationmethod was usedtohandletheeffectof actuator saturation in the system. The designed controller was usedonaSbW system with a linearized vehicle model to verify the effectivenessoftheproposed strategy.Thevehicle-bodysideslip angleand theyawrateatthecentreofgravityofthe vehicle whileturning can be used to indicatevehicle stability. The simulation results demonstratedthat the designed controller promotes better handling during steeringand preservesvehiclestabilityregardlessofthe changesin the timedelaysin the system.

【 授权许可】

Unknown