System and method of controlling a vehicle steer-by-wire system applying gain scheduling control

摘要

The present invention involves a method of controlling a vehicle steer-by-wire system having two independent road wheels. In one embodiment, the method comprises providing a steering wheel control sub-system to generate road wheel reference angles and to produce steering feel for a vehicle driver. The method further includes providing a road wheel control sub-system including a road wheel controlled plant and a road wheel controller for controlling actual road wheel angles to track to road wheel reference angles. Moreover, the method includes applying road wheel angles and angular rates as feedback signals to implement the left and right road wheel angles tracking for left and right road wheel reference angles in the road wheel control system with servo control system structure. The method further includes implementing a gain scheduling control in the road wheel controller to compensate the gain change of the controlled road wheel plant for overcoming non-linearity of the road wheel system, The present invention also involves a system of controlling a vehicle steer-by-wire system applying gain scheduling.