Tracking and Synchronization Control Strategy of Vehicle Dual-Motor Steer-by-Wire System via Active Disturbance Rejection Control

Abstract

A novel vehicle dual-motor steer-by-wire (SBW) system is proposed to improve the reliability and safety of traditional SBW system. However, the biggest challenge of dual-motor SBW is its tracking and synchronization control issues. In order to solve the problems of poor tracking and synchronization of the vehicle dual-motor SBW system caused by load disturbance, parameter perturbation, and model mismatch, a tracking and synchronization control strategy of the vehicle dual-motor SBW system via the active disturbance rejection control is proposed. First, the driving mechanism of dual-motor SBW system is analyzed, and the system dynamics model is established. Then, considering the system disturbance and parameter uncertainty, a second-order active disturbance rejection controller is designed for the position loop of the steering motor, which is composed of a third-order extended state observer and a state error feedback control law. Next, in order to simplify the adjustment difficulty of the controller, the bandwidth method is introduced to greatly reduce the number of controller parameters and the difficulty of parameter adjustment. Based on this, the disturbance rejection performance and stability of the designed active disturbance rejection controller are proved. Furthermore, the cross-coupling control structure is employed to enhance the synchronization performance of the dual-motor system. Finally, the performance of the controller to suppress the external disturbance and internal parameter perturbation is analyzed in step condition and double lane change condition, respectively, and the effectiveness of the proposed control strategy is verified on the dual-motor experimental platform.