摘要
为了控制汽车的质心侧偏角,同时保持汽车的转向增益不变,研究了四轮线控转向系统的后轮转向控制策略和前轮转向控制策略。首先建立了四轮转向整车二自由度模型,然后基于稳态质心侧偏角为零得到两种后轮转向控制策略:与前轮转角成比例型和横摆角速度反馈型,前者不改变系统极点,后者改变系统极点。基于转向增益不随车速改变得到二者的前轮转向控制策略。仿真表明,提出的前轮转向控制策略可以保持固定转向增益,降低驾驶员负担;后轮转向控制策略可以实现零质心侧偏角稳态值,控制车辆姿态,改善操纵稳定性。
To control automobile＇s steady slip angle and keep constant steering gain at the same time, rear wheel steering control strategy and front wheel steering control strategy are researched. Firstly, full vehicle two degree of freedom models of Four - Wheel - Steer - by - Wire are built. Then two types of Rear - Wheel angle control strate- gies based on zero steady slip angle are achieved ,i. e. proportional with Front -Wheel angle type and yaw rate feedback type, of which the former doesn＇t change system poles while the latter does. Then their front wheels steering ratio formulas are acquired based on steering gain not changing with velocity. Simulations show that the Front - Wheel steering control strategy can keep constant steering gain and decrease driver workload and improve the handling, and the Rear - Wheel steering control strategy can achieve zero steady slip angle and control vehicle attitude, thus impro- ving the handling and stabilities.
出处
《计算机仿真》
CSCD
2008年第4期278-281,共4页
Computer Simulation
基金
奥运用纯电动客车整车优化及制造项目(D0305002040111)
关键词
四轮线控转向
后轮转向控制策略
前轮转向控制策略
Four - wheel - steer - by - wire
Rear - wheel steering control strategy
Front - wheel steering control strategy
