基于ESO-ISMC与KFRFO的线控转向路感反馈控制研究OA

To improve the quality of road sensing simulation,this paper developed a principal torque compensation model based on the Kalman filter rack force observer(KFRFO).To improve the tracking accuracy of the ideal torque of the road induction motor,an angle controller for permanent magnet synchronous motors was developed integrating Extended State Observer(ESO)and integral sliding mode control(ISMC).Its performance was compared to the PID control with the same model parameters.The simulation and hardware-in-the-loop test results show the proposed model meets the requirements of low-speed portability with the double torsion lines and improves the steering sensitivity in the central area compared with the traditional EPS.The proposed ESO+ISMC control method achieves a tracking accuracy of over 99.8％at the peak and inflection points of the road sensing torque curve in the central area,providing high-precision road sensing feedback and some insights into the design of the steer-by-wire system.