基于ADAMS和MATLAB联合仿真的四轮转向汽车模糊控制研究

Research on Fuzzy Control of Four-Wheel Steering Vehicle Based on Joint Simulation of ADAMS and MATLAB

运用模糊控制技术进行四轮转向汽车控制策略研究,并利用MATLAB中的模糊控制工具箱,建立四轮转向控制系统。以横摆角速度误差及其误差变化率作为模糊控制规则的输入,后轮转角补偿量作为模糊控制的输出,建立模糊控制器系统。在ADAMS/CAR中建立四轮转向整车模型,在MATLAB中建立二自由度四轮转向参考模型,设计前轮转角比例前馈控制策略。利用ADAMS/Control接口,建立ADAMS和MATLAB四轮转向汽车联合仿真模型并进行仿真。仿真结果表明,模糊控制能有效地改善后轮转向响应,提高了汽车的操纵稳定性。

Fuzzy control technology is used to study the strategy of four-wheel steering vehicle control,and the fuzzy control toolbox of MATLAB is used to establish the four-wheel steering control system. The yaw rate error and its error rate are used as the input of fuzzy control rules,and the steering angle compensation of the rear wheel is used as the output of fuzzy control to establish the fuzzy controller system. The four-wheel steering vehicle model is established in ADAMS/CAR,and the reference model of four-wheel steering with two degree of freedom is established in MATLAB and the feed-forward control strategy of front wheel angle proportion is design. The joint simulation model of ADAMS and MATLAB four-wheel steering vehicle is established by using ADAMS/Control interface,and the simulation is carried out. The simulation results show that the fuzzy control can effectively improve the steering response of the rear wheel and improve the handling stability of the vehicle.