摘要
建立了基于比例控制的4轮转向(4WS)汽车的动力学模型,在Matlab环境下针对不同车速时的驾驶员模型跟随车辆轨迹、汽车横摆角速度、侧向加速度以及前轮转角的瞬态响应进行了闭环仿真分析,并与无控制的前轮转向(FWS)汽车的动力学模型结果进行了比较.结果表明:在相同的驾驶员模型下,主动四轮转向汽车的操纵稳定性优于前轮转向汽车,采用闭合曲线跑道比采用蛇型道路进行仿真更客观地反映控制效果和车辆特性.
Dynamic model of four-wheel steering （4WS） vehicle based on proportional control was built.In Matlab software environment with the consideration of different vehicle speeds,the transient responses of the driver model following vehicle trajectory,vehicle yaw rate,lateral acceleration and front steering angle were analyzed.Simulation results were compared with that of front-wheel steering （FWS） vehicle without control.It is indicated that the handling stability of 4WS vehicle at high speeds is superior to that of ordinary FWS vehicle under the same driver model.Furthermore,the simulation of choosing a road with complex closed curve could be more objectively reflect the control effects and vehicle handling dynamic characteristics.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2013年第8期820-823,847,共5页
Transactions of Beijing Institute of Technology
基金
国家自然科学基金资助项目(11272159)
江苏省高校自然科学基金资助项目(163040012)
关键词
比例控制策略
4轮转向汽车
操纵稳定性
闭环仿真
proportional control
four-wheel-steering vehicle
handling stability
closed-loop simulation
