Active steering angle tracking control of steer-by-wire system under different external disturbance

In the context of vehicle intelligence, steer-by-wire (SbW) has great potential for development and has become a current research hotspot. A challenging key technology of the SbW system is the steering angle tracking control under the effect of wheel-ground coupling resistance torque. In this paper, a method is proposed to provide the wheel-ground coupling resistance torque of the system by controlling the motor to track the desired torque to apply reaction force to the SbW system, which is referred to as reaction force analog control. The reaction force analog control strategy based on proportional integral (PI) control is proposed for the brushless DC motor (BLDC) with Hall sensor. Meanwhile, a method for estimating the angle and velocity of the BLDC based on Hall sensor is presented for field-oriented control. Besides, a steering angle tracking control strategy based on PI control is designed for the permanent magnet synchronous motor (PMSM) with resolver to achieve excellent steering performance. The proposed algorithms are validated with different driving test cycles from ISO standards via hardware-in-loop experiments. The experimental results show that the designed reaction force analog control can accurately track the desired resistance torque and the proposed active steering angle tracking controller achieves high-precision steering angle tracking performance under external disturbance, which it well meets the requirements of embedded applications.