Steer-by-wire angle following control method based on linear quadratic form adjustment

The invention relates to the technical field of steering systems, in particular to a steering-by-wire angle following control method based on linear quadratic adjustment. The method specifically comprises the following steps: step 1, establishing a kinetic model; step 2, converting into a form of a spatial state equation; step 3, obtaining a difference value between the steering wheel angular velocity and the actual angular velocity in the LQR controller; 4, calculating an error matrix; 5, constructing an error equation of the system by taking the angle difference value and the angular velocity difference value as input; 6, solving the Riccati equation through an iteration method to obtain a gain matrix K; step 7, calculating an LQR torque; step 8, performing a feed-forward compensation strategy by designing an observer, and calculating a feed-forward torque; and step 9, calculating the total torque of the system in the drive-by-wire execution system. Compared with the prior art, the optimal gain can be solve