Abstract
To improve the road feeling of the steer-by-wire (SBW) system, a fractional order PID (proportion-integral-derivative) method with a fault tolerant module is proposed in this paper. Firstly, the overall road feeling control strategy of the SBW system is introduced, and then the mathematical model of road feeling control is established. Secondly, a fractional order PID (FOPID) controller is designed to control torque of the road feeling motor. Furthermore, genetic algorithm (GA) is applied to tune the FOPID controller’s parameters. Thirdly, a fault tolerant module aiming at potential failures of the motor’s torque sensor is studied to improve the reliability of the system. Kalman Filter (KF) algorithm is utilized in the fault tolerant module so as to detect failures of the motor’s torque sensor, and then fault tolerant module reconfigures the motor’s torque estimated by KF as a substitute when the torque sensor fails. Finally, simulations based on MATLAB are performed with the proposed control strategy to identify its performance, and the results demonstrate that the proposed control method is feasible and accurate.
Highlights
The SBW system is playing an important role in the development of modern vehicles [1, 2], which breaks the concept of traditional steering system and replaces the mechanical joint between the steering wheel and front wheels [3]
In order to demonstrate the superiority of the fractional order PID (FOPID) controller, the conventional PID controller tuned by genetic algorithm (GA) is designed to compare the performance of the optimized FOPID controller
In order to improve the reliability of the control system, a fault tolerant module aiming at the motor torque sensor is studied
Summary
The SBW system is playing an important role in the development of modern vehicles [1, 2], which breaks the concept of traditional steering system and replaces the mechanical joint between the steering wheel and front wheels [3]. Drivers will not feel the road condition directly without the mechanical connection from steering wheel to the road in the SBW system [5]. The road feeling control is to feed back the road condition to the driver, which controls the reaction torque that the steering wheel actuator generates [6]. Some scholars have developed PID controller for the road feeling control of the SBW system [7, 8]. The FOPID controller is adopted to control the road feeling of the SBW system in this paper
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