摘要
对四轮转向车辆的转向特性进行了理论分析,并对某控制策略的四轮转向车辆为例进行了仿真。建立了四轮转向车辆操纵动力学模型,分析了前轮角阶跃输入下四轮转向车辆的稳态响应和瞬态响应与传统前轮转向车辆的主要区别;在四轮转向车辆状态方程的基础上求解出横摆角速度和侧向加速度与前轮转角的传递函数,与前轮转向车辆对比分析了传递函数零、极点位置对响应特性的影响。借助Matlab/Simulink,对四轮转向车辆进行仿真,发现仿真结果与理论分析吻合。将仿真结果与前轮转向车辆进行比较,阐明了四轮转向车辆的性能优势。研究结果可为评价四轮转向车辆的系统设计提供理论依据。
The steering characteristics of four - wheel steering vehicle are studied, and the simulation of four - wheel steering vehicle with certain control is done. Based on an established dynamic model of four - wheel steering vehicle, the difference between the steady state and transient responses of four- wheel steering vehicle and those of front wheel steering vehicle is studied, and the state equation of space and the transfer function about yaw velocity and lateral acceleration to the front wheel steering angle are obtained. The effect of transfer function's zero and pole position on response between four - wheel steering vehicle and front wheel steering vehicle is described. Simulation of four- wheel steering vehicle in Matlab/Simulink software environment matches with theoretical analysis. The advantages of four - wheel steering vehicle compared with front wheel steering vehicle are showed. The conclusion is useful for the system design of four - wheel steering vehicle.
出处
《计算机仿真》
CSCD
2008年第8期253-257,共5页
Computer Simulation
关键词
四轮转向
操纵稳定性
零侧偏角
仿真
Four - wheel steering
Handling stability
Slip angle minimization
Simulation