EV Tracking and Synchronization Control of Dual-Motor Steer-by-Wire System Under Road Disturbances and Parameter Perturbation
Qiming Wang, Changhong Jiang, Niaona Zhang, Yanbo Wang
Abstract
Electric vehicle (EV) intelligent driving technology requires steer-by-wire (SBW) system with a high level of control accuracy and reliability. The dual-motor SBW system is characterized by strong redundancy and reliability, which provides a fault-tolerant solution for intelligent driving. However, parameter perturbation, time-varying road disturbances, and inconsistent loads reduce the <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">steer</b>ing accuracy and synchronization of the dual-motor SBW system. To address the above challenges, this paper proposes a composite sliding mode angle and synchronization controller. First, an angle tracking controller based on fast integral terminal sliding mode control and extended state observer (ESO) is developed to improve the stability and steering response speed of the EV with dual-motor SBW system. Then, a super-twisting sliding mode control (STSMC)-based cross-coupled synchronization controller is developed to reduce the torque conflict under the parameter perturbation and inconsistent loads. Furthermore, the stability proof of the proposed control strategy is developed. The verification results show that the proposed control strategy can improve the angle response speed and synchronization of the dual-motor SBW system under the parameters perturbation and disturbances.