四轮转向汽车最优转向控制研究

Four-wheel Steering Vehicle Optimal Control Research

为了充分发挥四轮转向技术在改善汽车操纵稳定性方面的优势,对汽车转向的理想状态进行分析,构建理想转向模型。依据具有二次型性能指标的最优控制理论,以汽车转向理想模型作为跟踪目标,采用基于状态反馈和前轮前馈的控制策略,对四轮转向汽车后轮转向控制规律进行研究。利用Matlab工具,对所提出的后轮转向最优控制方法进行仿真。仿真结果表明:所设计的后轮转角最优控制器改善汽车转向的瞬态与稳态响应特性,其瞬态响应的超调量减少,稳定时间缩短;侧向滑移的稳态值有所降低,从而提高汽车转向的操纵稳定性。

To sufficiently utilize the advantages off our-wheel steering （4WS） technology in improving the handle ability and stabi[ity of vehicles, the ideal steering model is analyzed and established. By using this ideal model as goal tracked and according to the optimization theory with quadratic performance index, the control law for rear wheel steering is researched based on the feed for ward of front wheel and feedback of states. By means of the Matlab tool of this rear wheel steering op- timal control methods for the simulation. The simulation results show that the controller designed for rear wheel steering can improve the transient and steady state response, the overshoot is decreased and the settling time is short en intransient state, the side ship is also reduced. So the handle ability and stability is enhanced.