摘要
基于三轴汽车前后轮转向时的闭环控制确定性模型 ,探讨了该汽车在典型的组合路面行驶过程中后轮的最优转向控制规律 ,通过引入状态反馈 ,改善了整车的转向特性。将实际汽车的前后轮胎侧偏刚度及外界干扰视为有界的不确定性参数 ,采用模型跟踪变结构控制方法 ,使得不确定的实际汽车模型能够很好地跟踪确定性的最优理论模型。仿真结果表明该方法的可行性 。
The optimal steering control laws of rear wheels for three axle vehicle on complex typical path are studied based on the certain vehicle model of closed loop control. The steering responses of vehicle are improved through using steering of state feedback. The actual vehicle model is considered as uncertain system. The cornering stiffness of front and rear wheels and outer disturbance vary over a limited range. The model following variable structure control method is used for controlling front and rear wheels steering of the actual vehicle, so that the steering characteristics of uncertain vehicle model can follow the characteristics of reference model. Simulation results have demonstrated that the control system can overcome the drawbacks of parameter perturbations and outer disturbance.
出处
《机械科学与技术》
CSCD
北大核心
2002年第1期69-71,共3页
Mechanical Science and Technology for Aerospace Engineering
