关键词: 智能驾驶；PID；LQR；抖动现象

Abstract: To address the oscillation issue in electrical power system (EPS) caused by external interference during intelligent drive mode, this paper conducts detailed analysis and identifies insufficient robustness of the proportional-integral-derivative (PID) controller responsible for steering angle closed-loop control in EPS as the root cause of oscillation phenomenon. Through force analysis for mechanical steering system, differential equations of motions are established and transformed into the form of state equations. By defining performance indicator, an linear quadratic regulator (LQR) optimal controller is constructed. The weighting matric coefficient of LQR optimal controller is determined via simulation analysis. The vehicle tests are conducted as well and the results show that, compared to the PID controller, the LQR optimal controller demonstrates superior robustness and tracking performance, and it not only completely resolves the oscillation issue in EPS but also achieves a certain degree of improvement in the key indicators of tracking performance. This paper also provides a practical approach for steering angle control in steering-by-wire system.

Key words: intelligent drive; PID; LQR; oscillation phenomenon