摘要
针对四轮转向(4WS)汽车横向运动线性模型的局限性,使用T-S模糊逻辑建立了轮胎的侧偏力非线性模型和4WS汽车非线性二自由度模型,并且验证了模型的正确性;采用线性二次型最优控制和模糊控制方法相结合,设计了全局稳定的4WS汽车前后轮转角最优协调控制器;分别对低速转向和高速大转角转向两种工况进行仿真,表明所建非线性模型的正确性和控制方法的有效性。
In order to deal with the nonlinear of 4WS vehicle lateral model, a nonlinear cornering force model of tire anda nonlinear 4WS vehicle lateral model were developed based on T-S fuzzy logic, and its validity in succession was proved. An optimal coordinate controller for front-rear wheels steering was developed by integrating linear quadratic regulator with fuzzy logic, and its global stability was proved. The simulation results show that the nonlinear model and the controller are effective in cornering maneuver at low speed and high speed with large angle.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2009年第11期3356-3359,3377,共5页
Journal of System Simulation
基金
国家863计划(2007AA04Z206)
山东省教育厅科技计划项目(J07WA10)
