基于横摆率跟踪的4WS车辆闭环操纵稳定性

CLOSED-LOOP HANDLING STABILITY OF 4WS VEHICLE BASED ON YAW-RATE TRACKING

从车辆操纵稳定性多状态量的响应等方面着手,提出了4WS车辆横摆率跟踪多状态最优控制方案,建立了考虑四轮转向车辆动态响应的闭环操纵稳定性仿真模型,比较了采用横摆角速度多状态最优控制方法与前后轮转向比是车速函数的四轮转向控制方法的操纵稳定特性.结果表明对于使用横摆角速度多状态最优控制的4WS车辆,其转向过程中的侧向加速度和横摆角速度等操纵稳定性瞬态特性均明显优于其它4WS控制方法的车辆,同时保持操纵稳定性的稳态特性不变.

Vehicle handling stability response from multiple state variables was considered. A multi-variable stabilization control algorithm for four-wheel steering vehicle based on yaw-rate tracking was put forward. To improve the vehicle dynamic response in a high speed range,the closed-loop simulation model of 4WS system was established. The transient and steady maneuverability of the 4WS vehicle was tested by using the visual prototyping model with the different control algorithms. The results show that the nonzero input of the rear steering angle is suitably controlled according to the 4WS multi-variable stabilization control algorithm,the transient responses of4 WS vehicle will be significantly improved,such as the lateral acceleration and its yaw angular velocity,meanwhile,its steady maneuverability is unchangeable.