A linear active disturbance rejection control (LADRC) strategy for permanent magnet synchronous motor (PMSM) for road-sensing based on the differential evolution (DE) algorithm is proposed in this paper, called DE-LADRC, to obtain the better dynamic and steady-state responses of the road-sensing simulation in electric vehicle (EV) steering-by-wire (SBW) systems. Since the novel control method ignores the time delay modules in digital motor control, the controlled object is regarded as a first-order inertial link to design a first-order LADRC controller. Then aiming to solve the problem where the values of the controller parameters are changed and difficult to tune due to ignoring the time delay modules in the first-order LADRC controller, the differential evolution (DE) algorithm is designed to find the optimal controller parameters by self-tuning. Experiment results indicate the effectiveness and convergence of the DE-LADRC, as well as the correctness of the road-sensing planning. In addition, the DE-LADRC can provide the smoother feel and real-time road-sensing for driver due to experiment of a Hardware in the Loop (HIL) platform under convergent iteration.

中文翻译：

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基于差分进化算法的PMSM道路传感仿真LADRC策略研究

本文提出了一种基于差分进化 (DE) 算法的用于道路传感的永磁同步电机 (PMSM) 的线性自抗扰控制 (LADRC) 策略，称为 DE-LADRC，以获得更好的动态和稳定性。电动汽车 (EV) 线控转向 (SBW) 系统中道路传感仿真的状态响应。由于新型控制方法忽略了数字电机控制中的延时模块，因此将被控对象视为一阶惯性环节来设计一阶LADRC控制器。然后针对一阶LADRC控制器中因忽略时滞模块而导致控制器参数值发生变化且难以整定的问题，设计了差分进化（DE）算法来寻找最优控制器参数：自调。实验结果表明了DE-LADRC的有效性和收敛性，以及道路传感规划的正确性。此外，由于硬件在环 (HIL) 平台在收敛迭代下的实验，DE-LADRC 可以为驾驶员提供更流畅的感觉和实时道路感应。