摘要
建立了一种基于横向位移偏差控制的4WS汽车闭环控制系统,控制目标是减小横向位移偏差,提高轨迹跟踪性能和操纵稳定性。系统中的驾驶员模型是一个基于横向位移偏差控制,包括预瞄、积分和高频补偿的多路闭环控制系统。后轮转角采用前馈和反馈控制结合的方法。对两种汽车运行轨迹进行了仿真研究,结果表明4WS汽车比2WS汽车有更好的横向位移跟踪性能和操纵稳定性。
A closed-loop control system of 4WS based on the control of lateral displacement error was set up herein,which was used to decrease the lateral displacement error and improve the ability of following track and steering stability.The driver model,in the control system,was a closed multi-loop control system,based on lateral displacement error control,including preview,integral and compensation of high frequency.The combination of feedback and feed-forward control method was adopted in the rear wheel steering angle control.Finally,two-type trajectory,followed by vehicle,was investigated by simulation,results show that 4WS vehicle has better ability of following track and steering stability than 2WS vehicle.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2011年第12期1508-1511,共4页
China Mechanical Engineering
关键词
4WS汽车
驾驶员模型
横向位移偏差控制
操纵稳定性
闭环控制
4WS（4 wheel steering） vehicle
driver model
lateral displacement error control
steering stability
closed-loop control
