Neural Approximation-Based Adaptive Control Using Reinforced Gain for Steering Wheel Torque Tracking of Electric Power Steering System
针对电动助力转向系统因模型不确定性和外部扰动导致的方向盘转矩控制性能下降问题，提出一种结合神经网络逼近器、自适应控制和增强增益的非线性控制方法，以快速抑制误差并避免不必要的高增益。
In practice, steering wheel torque (SWT) control performance for an electric power steering (EPS) system may degrade owing to various reasons, such as model/parameter uncertainties and unpredictable large external disturbances (e.g., reaction force). Furthermore, the desired SWT suddenly varies and its sign also changes because the direction of the steering wheel angle (SWA) often changes according to the driver. In this article, a neural network (NN) approximation-based adaptive nonlinear control (ANC) using reinforced gain (RG) for an EPS system is proposed to resolve the above-mentioned problems using an SWT model. The proposed control method employs an NN approximator, ANC, and RG. The NN approximator is designed to estimate the unknown complex nonlinear function in EPS modeling. The ANC is designed via backstepping to compensate for parametric uncertainties and external disturbances. Further, the RG is designed as a positive nonlinear function of the error to sufficiently suppress the error according to variations in the desired SWT and external disturbance. The RG increases to suppress the error at a rapid transient response, owing to the sudden change in the sign of the desired SWT and the external disturbance. Thus, a high gain (increased RG) is used only when necessary so that an unnecessarily high gain can be avoided.