Aiming at the angle tracking problem of electro-hydraulic hybrid steering (EHHS) system of heavy commercial vehicles in intelligent driving mode, the dynamic model of the system is established. In order to weaken the influence of nonlinear disturbance and parameters, an adaptive robust controller based on backstepping method is designed, a linear extended state observer is established to predict the disturbance. Triangular programming and trapezoidal programming are introduced into the upper level planning of steering angle position to improve the performance, so as to realize the tracking control of steering angle. In order to verify the effectiveness of the control algorithm, the designed controller is compared with DRC control. The results show that the controller used in this paper has higher servo accuracy, smaller error, and better robustness to interference. And to verify the improvement of the speed planning algorithm, the simulation is compared with the non-planning algorithm. The results show that adding the planning algorithm can reduce the control effect error and avoid the response oscillation to a certain extent. Finally, HIL bench test shows that the control strategies under various working conditions have good effect, and meet the steering angle tracking requirements of commercial vehicles in intelligent driving mode.
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