基于MATLAB/Simulink的四轮转向车辆的操纵稳定性研究

Study on Handling and Stability of Four-wheel Steering Vehicle Based on MATLAB/Simulink

为了研究四轮转向汽车的操纵稳定性,只考虑汽车的横摆运动和侧向运动,将汽车简化为线性二自由度模型。采用前后轮转角成比例的控制策略,对四轮转向汽车的控制系统进行分析,推导出系统状态空间方程,并在MATLAB/Simulink里建立该控制策略下的4WS(Four-wheel Steering)模型,对汽车的操纵稳定性进行仿真分析,将仿真结果与前轮转向进行对比。仿真结果表明:四轮转向汽车能有效地提高低速时的机动性,减小转弯半径,同时提高车辆高速时的操纵稳定性。

In order to analyze the handling and stability of four-wheel steering vehicle and just consider the yaw motion and lateral motion of the vehicle,simplify the vehicle as a linear two-degree-of-freedom model.Based on the control strategy of the front and rear wheels rotating in proportion,the system state space equations are derived.Based on MATLAB/Simulink,the four-wheel steering vehicle model under this control strategy is established to simulate the handling and stability of the vehicle,and the simulation results are compared with the front-wheel steering vehicle.The results show that the four-wheel steering vehicle can effectively improve the maneuverability at low speed,reduce the turning radius,and improve the handling and stability of the vehicle at high speed.