Vehicle Stability and Synchronization Control of Dual-Motor Steer-by-Wire System Considering Multiple Uncertainties
Kunhao Xu, Weihe Liang, Wanzhong Zhao, Chunyan Wang, Songchun Zou, Xiaochuan Zhou
Abstract
Intelligent driving technology requires steer-by-wire (SBW) system with a higher level of safety. This article presents a novel dual-motor SBW system aimed at enhancing the safety and reliability of vehicles. However, the external disturbances, vehicle parameter changes, and the dual-motor asynchronism in the steering process can affect the stability of the vehicle. Therefore, a layered control strategy is proposed to improve vehicle stability under multiple uncertainties. First of all, considering lateral wind-speed, road interference, and vehicle parameter disturbance, as well as the limit of control output, a μ/H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> hybrid robust controller is devised to enhance the stability performance of the SBW system in the upper control strategy. Then, the synchronization strategy combining super-twisting sliding mode control (STSMC) and cross-coupled control structure is devised to ensure the synchronization between dual-motor in the lower control strategy. Finally, Carsim/Simulink and dual-motor test bench are used to carry out simulation and experiments, and it is verified that the proposed layered control strategy can enhance the stability and synchronization of the vehicle under multiple uncertainties.