三轴全轮转向车辆模型跟踪控制方法对比

Comparative Study on Tracking Control Method of Three-axis All-wheel Steering Vehicles

针对三轴车辆全轮转向理想模型跟踪控制器的设计问题,基于提出的车辆转向理想模型设计了2种理想模型跟踪控制器,以实现对车辆理想质心侧偏角和横摆角速度的跟踪。基于建立的整车数学模型,分别在线性域和非线性域,仿真分析了2种理想模型跟踪控制器的控制效果。结果表明:最优控制仅在线性域有较好的跟踪效果,而模糊控制在线性域和非线性域的跟踪效果都较好。

Aiming at the design problem of three-axis all-wheel steering control system to track the ideal model,based on the proposed steering ideal model of vehicle,two kinds of controller is designed to achieve the ideal sideslip angle and yaw rate of tracking. Using the mathematical model of vehicle,respectively in linear domain and nonlinear domain,control effect of two kinds of ideal model tracking controller is simulated. The results show that: the optimal control only can achieve a good tracking in the linear domain,but the fuzzy control can achieve a good tracking both in the linear and nonlinear domain.