三轴车辆多模式全轮转向控制系统设计

Design for Multi-mode All-wheel Steering Control System of Three-axle Vehicles

针对三轴车辆全轮转向控制系统的设计问题,提出了一种具有多种转向模式的全轮转向控制系统。首先,建立了三轴车辆的基础运动学模型和动力学模型,并提出了全轮转向控制系统的4种转向模式;然后,针对不同转向模式,分别进行了系统控制算法研究和车辆转向性能分析;最后,通过分析转向模式应用范围和相互关系,将转向模式简化为3种,并给出了三者的切换条件。研究结果为三轴车辆全轮转向控制系统的实车应用提供了参考。

Aiming at the design problem of all-wheel steering control system in three axle vehicle,an all-wheel steering control system with multiple steering modes is proposed.Firstly,the basic kinematic model and dynamic model of three axle vehicle is built and four kinds of steering modes are put forward accord-ingly.Then,aiming at different steering modes,the control algorithm and steering characteristics are re-searched respectively.At last,through the analysis of the application range and the mutual relationship of the steering mode,the steering mode is simplified to three kinds,and the switching condition of them are given.The research results provide a reference for the application of all-wheel steering system in three ax-le vehicle.