四轮转向汽车稳定性控制被引量：1

Stability Control of 4-wheel Steering Vehicle

下载PDF

导出

摘要针对过分地追求减小高速转向时的横摆角速度,将导致后轮转角的随动性变差,同时也很难充分利用其机动性来提高稳定性,并且一般有较长时间滞后的问题,提出了一种利用横摆角速度反馈信息,进行再调节的控制方法。给出一个前轮转角阶跃输入后,不是直接根据当前速度算出后轮转角,而是在忽略后轮的情况下,求出横摆角速度响应,然后和稳态横摆角速度相比较,得出一个需要调整值。以该值通过一定的关系求出当前需要的后轮横摆角,这个过程重复进行,直到接近最优值。仿真结果表明,该控制方法能大大缩短四轮转向系统达到稳态的时间。 Excessive pursuing for minimum yaw ratio leads to worse transient follow of the rear wheel＇s turning and handling stability, and hardly to increase the stability through maneuverability, longer time delay occuring as well. In order to eliminate these shortcomings, a new control method is introduced, which can readjust the output with the feedback of yaw velocity. The initial yaw velocity is first obtained after a step angle is input to the front steering wheels, neglecting the rear wheel＇s turning. Then the different value between the initial yaw velocity and the steady yaw velocity is used to calculate the rear yaw angle. This process is repeated till the optimal value is achieved. The simulation shows that this method can reduce the response time remarkably.

作者周淑文张思奇许晓东

机构地区东北大学机械工程与自动化学院沈阳建筑大学交通与机械工程学院

出处《控制工程》 CSCD 2007年第B05期78-80,共3页 Control Engineering of China

基金辽宁省博士启动基金(20061014)

关键词四轮转向横摆率操纵稳定性反馈控制超调量 4WS yaw ratio handling stability feedback control overshoot

分类号 TP461 [自动化与计算机技术]

引文网络
相关文献

参考文献8

1You S S,Kim H S.Lateral dynamics and robust control synthesis for automated car steering[J].Journal of Automobile Engineering,2001,215(1):639-646.
2Shin M K,Hong S W,Park G J.Axiomatic design of the motor-driven tilt/telescopic steering system for safety and vibration[J].Journal of Automobile Engineering,2001,1215(2):179-187.
3Furukawa Y,Abe M.Advanced chasis control systems for vehicle handling and active safety[J].Vehicle System Dynamics,1997,28 (2/3):59-86.
4Furukawa Y,Yuhara N,Sano S,et al.A review of front wheel steering studies from the viewpoint of vehicle dynamics and control[J].Vehicle System Dynamics,1989,18(1-3),151-186.
5Chen L K.Identification of a driver steering model and model uncertainty from driving simulator data[J].Journal of Dynamic systems Measurements and Control,2001,123(4):623-629.
6杨峰,高翔,王若平,游学兵.两轴四轮汽车四轮转向机构的运动分析[J].中国农机化,2004(6):50-53. 被引量：4
7汪东明,汪东明.四轮转向汽车的转向特性及控制技术[J].现代机械,2003(6):73-75. 被引量：11
8Data S,Pesce M,Reccia L.Active wheel steering and yaw moment control combination to maximize stability as well as vehicle responsiveness during quick lane change for active vehicle handling safety[J].Journal of Automobile Engineering,2004,1218 (8):783 -792.

二级参考文献3

1(加)唐诺里斯 (美)杰克尔贾维克.悬架系统及转向系统[M].吉林科学技术出版社,2000..
2余志生.汽车理论[M].北京：清华大学出版社,2002..
3Sano S, Furukawa Y, Shlralshis Four Wheel Steering System with Rear Wheel Angle Controlled as a function of Steering Wheel Angle[J].SAE Paper 860625,1986.