基于MATLAB四轮转向车辆PID控制的建模与仿真

Modeling and Simulation of PID Control for Four Wheel Steering Vehicle Based on MATLAB

以二自由度整车操纵稳定性研究为基础,建立车身零侧偏角的前馈控制策略对四轮转向车辆实施控制.在MATLAB中建立前轮转向、四轮转向车辆模型,并在角阶跃工况下进行仿真,发现其存在横摆角速度损失的缺陷,提出PID车身横摆角补偿控制策略,通过建模在角阶跃工况下仿真.结果表明:横摆角速度补偿控制策略可较好地解决车辆转向灵敏度的问题.

Based on the handling stability research of two degree of freedom vehicle,the feedforward control strategy for vehicle zero side slip angle is designed to control four- wheel steering vehicle.Then the vehicle model that contains the front wheel steering system,four wheel steering system is made and simulation is carried out under the conditions of steering wheel angle step. It is found that there is a great defect in the velocity of the yaw rate. Therefore,a PID compensate control strategy is put forward. Simulation is done through modeling under the conditions of steering wheel angle step.The results of simulation prove that a PID compensate control strategy is perfect for improving the handling sensitivity when vehicle changes the direction.