摘要
建立了两自由度四轮独立转向(4WIS)车辆系统模型,根据四轮独立转向零稳态质心侧偏角控制策略和前轴中心虚拟转角为控制参数,推导了独立四轮转角的函数表达式;Simulink仿真结果表明,其低速机动性能和高速操纵稳定性能与前轮转向(FWS)车辆都有较大提高。与比例四轮转向车辆(4WS)相比,其低速机动性能有所提高而高速操纵稳定性能相近。
The mathematical model of 4WIS vehicle based on 2DOF is buih in this paper. Under the control strategy of zero sideslip angle at mass centre and the control parameter of virtual steering angle at forward axis centre, the function expressions of the angles of 4WIS vehicle based on 2DOF are derived. Based on this, the Simulink model is built and simulated. The re- suits indicate that the maneuverability at low speed and stability at high speed of 4WIS vehicle are both improved by comparing with that of the FWS vehicle ; while comparing with that of the 4WS vehicle, the maneuverability at low speed is improved and the stability at high speed is similar.
出处
《机械研究与应用》
2017年第6期22-24,27,共4页
Mechanical Research & Application
关键词
四轮独立转向
虚拟转角
数学模型
仿真
four-wheel independent steering
virtual steering angle
mathematical model
simulation
