Research of Automotive Steer-by-wire Control Based on Integral Partition PID Control

摘要

The steer-by-wire system, with which the conventional mechanical linkage between the steering wheel and the front wheel is removed, is suited to active steering control, to improve vehicle stability, dynamics and maneuverability, as well as to autonomous steering control to assist the driver. Conventional controller for steer-by-wire system is designed with general feedback control method. However, driver can not exactly feel reaction torque generated from tire. This paper adopts the method of integral partition PID Control. Computer models were developed under the environment of MATLAB/SIMULNK and the Integral partition PID Control scheme of steer-by-wire control was presented too. Return-to-center of steering wheel and steering of the front wheel were simulated and analyzed. The simulation results illustrate that steer-by-wire controller with Integral Partition PID Control is better in dynamic characteristics than the conventional PID controller in the return-to-center of steering wheel and stabilization time.