含非线性轮胎模型的汽车四轮转向与主动悬架集成控制

Four Wheel Steering and Active Suspension Integrated Control Based on Nonlinear Tire Model

在建立汽车四轮转向与主动悬架统一动力学模型的基础上,分别对2个子系统进行控制器的设计研究。在四轮转向控制器的设计方面,提出了修正后的理想参考模型,采取前馈加反馈的跟踪控制策略,在主动悬架的控制器设计中则采用最优控制方法。结合非线性轮胎模型,在MAT-LAB/Simulink环境下对被动系统、四轮转向系统、主动悬架系统以及四轮转向与主动悬架集成控制系统进行了仿真分析。结果表明:集成控制系统除了能改善车辆在转弯过程中的质心侧偏角响应、横摆角速度响应以及在不平路面上的行驶平顺性外,还能有效抑制由不平路面等外界干扰对车辆转向性能带来的影响。

Based on establishment of the unified dynamics model for four wheel steering and active suspension, the controller design of the above subsystem was studied individually. On the controller design of the four wheel steering system, authors brought about the modified desired model. Using feed-forward and feed-back of tracking the desired model strategy, authors designed the optimal controller for the active suspension system. Combined with the nonlinear tire model, simulated analysis of passive system, the four wheel steering system, the active suspension system and the integration system was done under MATLAB/Simulink environment. Results show that the integrated control system can improve the centroid sideslip angle and yaw angle rate response in process of steering and the riding performance on uneven road, and also can restrain the influence of uneven road on the vehicle steering performance.