Research on Steering Motor Control Strategy for Intelligent Driving Vehicles Under Load Disturbance Conditions

Intelligent driving vehicles are prone to load perturbation of steering motors due to road surface inequality and other reasons, resulting in poor angle tracking accuracy. To improve the current situation, the steering system of intelligent driving vehicles has a poor corner tracking effect under load disturbance conditions, so a control strategy for steering motors is proposed. This paper uses a permanent magnet synchronous motor for steering, and a three closed-loop control system of the angle, speed, and current is established. The speed loop employs a sliding mode controller based on the exponential reaching law to enhance the system's resistance to interference. To observe the change of motor load disturbance, A reduced-order load torque observer is devised for monitoring, and the observed load torque is used for feedforward compensation to the output of the speed loop. Ultimately, the simulation model will be constructed in the MATLAB/Simulink environment. The outcomes of the simulation experiments indicate that the control strategy designed in this paper can achieve accurate tracking of the target angle of the steering motor under load disturbance conditions.