Vehicle fuzzy feedforward path tracking control method based on hydraulic steering leakage compensation

A vehicle fuzzy feedforward path tracking control method based on hydraulic steering leakage compensation, comprising:

• Step 1:
• acquiring a steering wheel angle, a wheel angle, and a piston rod displacement parameter;
• Step 2:
• determining a transmission ratio Kv of a hydraulic steering system of the vehicle, wherein a path tracking algorithm outputs a desired wheel angle β in different cycles, obtaining a desired steering wheel angle θ=βKv, and inputting the desired steering wheel angle into the hydraulic steering system of the vehicle to perform path tracking steering operations;
• Step 3:
• determining a steering load force F and an actual steering angle error e(θ), and obtaining a feedforward leakage compensation parameter KC through fuzzy control;
• Step 4:
• using the load force and the actual steering angle error as inputs to fuzzy rules, controlling the feedforward leakage compensation parameter as an output of the fuzzy rules, and constructing a fuzzy control system;
• Step 5:
• defuzzifying the fuzzy control system using the centroid method to obtain a fuzzy sliding mode controller, and using the fuzzy sliding mode controller to perform a comparative analysis of a rear wheel angle, controlling the compensation solenoid valve to perform fluid replenishment, ensuring that the actual steering angle error of the steering system during the path tracking cycle remains within a reasonable range;
• Step 6:
• performing fluid replenishment by the compensation solenoid valve for each path tracking cycle, and executing a path tracking steering operation by the vehicle hydraulic steering system;
• Step 7:
• repeating the above steps 1-6 to perform calculations for a next cycle of the path tracking algorithm, completing an entire path tracking process.