摘要
在四轮转向(4WS)车辆的基础上,结合车辆的横摆角速度和质心侧偏角,通过改变车轮的转向角来提高车辆的稳定性和操纵性。建立参考模型,七自由度车辆模型,线性二次最优控制模型和PID控制模型,结合驾驶员模型和道路模型,在Matlab/Simulink软件中进行系统建模仿真。仿真结果显示,设计的4WS车辆的转向稳定性控制系统算法具有一定的有效性。
In order to improve the stability and maneuverability of four - wheel - steering vehicle, the steering angle combined with yaw rate and side slip angle was controlled. Meanwhile, the reference model, 7 - DOF vehicle model, optimal controller model and PID control model were built and developed respectively. Simulations were car- ried out in Matlab/Simulink. The results show that the control algorithm can effectively improve the stability of the four - wheel - steering vehicle.
出处
《电子科技》
2017年第8期48-51,55,共5页
Electronic Science and Technology
基金
上海市科研创新基金(12ZZ145)
