摘要
针对四轮转向(4WS)车辆的操纵稳定性问题,以线性二自由度车辆模型为基础,从时域和频域两个角度分析了如何通过控制后轮转角相位与角度来提高4WS车辆的低速机动性和高速稳定性。用0.4g的侧向加速度来界定四轮转向系统的有效工作区域,推导出后轮转角的合理范围。对比分析了两种典型控制算法的稳态特性和瞬态特性,稳态特性不依控制算法的改变而改变,控制算法二则明显提高了4WS车辆的瞬态响应品质。研究结果为4WS系统的开发提供了理论依据。
Based on the 2DOF linear bicycle model,the handling and stability of 4WS vehicle was studied herein.The rear wheel control algorithm was discussed in time domain and frequency domain in order to improve the maneuverability at low speed and stability at high speed.By using the lateral acceleration as 0.4g to define the effective working area for 4WS,the range for rear steering angle was derived.The steady-state and transient-state of two typical control algorithms were compared and an-alyzed.The control algorithm does not affect the steady-state characteristics of the vehicle,but can improve the transient response.This provides the theoretical basis for the development of the 4WS system.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2015年第9期1250-1254,共5页
China Mechanical Engineering
关键词
四轮转向(4WS)
操纵稳定性
稳态
瞬态
four wheel steering（4WS）
handling and stability
steady-state
transient-state
