两轮转向改装成四轮转向汽车的动力学分析

C Analysis of Four-wheel Steering Vehicle Converted from Two-wheel Steering

对传统的两轮转向汽车进行改装,使其后轮也具有转向功能。文中建立了三自由度的改装四轮转向汽车的动力学模型,选择了线性的轮胎模型对轮胎力进行了分析。根据汽车抗侧翻和抗侧滑的临界条件,得出转弯半径的限制范围。结合阿克曼定理分析了低速、高速两种不同工况下的控制策略,设计了两后轮各自的控制转角,使改装好的汽车实现四轮转向,为后续控制系统提供了理论依据和控制模型。

By modifing the traditional Two-wheel Steering Vehicle, the rear wheels also have steering functions. In this paper, three degrees of freedom dynamic model of modified four-wheel steering vehicle was established, and chose a linear tire model analyzing the stress on the tires. The limit range of turning radius was derived according to the critical condition of automobile anti-roll and anti-skid. The control strategies of low-speed and high-speed conditions were analyzed combining of Ackermann Theorem. Meanwhile, each control angle of rear wheels was designed, which makes the modified vehicle achieve Four-wheel Steering. This paper provides a theoretical basis and the control model for the follow-up control system.