摘要
通过建立三自由度4WS模型,采用最优控制理论求得最优控制Kalman增益。利用Matlab/Simulink软件搭建整车模型。选取不同车速工况下的角阶跃前轮大转角,对采用不同控制策略的三自由度4WS模型与理想模型进行仿真对比分析。仿真结果表明:与基于前馈控制策略的三自由度4WS模型和三自由度2WS模型相比,基于最优控制策略的三自由度4WS模型在质心侧偏角和横摆角速度上更加接近于理想模型。最优控制策略可以适用于汽车的四轮转向系统,并能改善对理想模型的跟踪能力,提高汽车的操纵稳定性和安全性。
Based on the three degree of freedom 4WS model, the optimal control Kalman gain was obtained by the optimal control theory. The vehicle model was established by Matlab/Simulink software.Selecting the big angle of angle step front wheel under different vehicle speed conditions, the simulation and comparison of the three degree of freedom 4WS model with the different control strategies and the ideal model were carried out. The simulation results show comparing with the three degree of freedom4WS model based on the feed-forward control strategy and the three degree of freedom 2WS, the threedegree of freedom 4WS model based on the optimal control strategy is more closer to the ideal model inthe sideslip angle and yaw angle rate. The optimal control strategy can be applied to the 4WS of the ve?hicle and can improve the tracking ability of the ideal model, and improve the control stability and safety of the vehicle.
作者
王思文
冯樱
刘惊涛
Wang Siwen;Feng Ying;Liu Jingtao(School of Automotive Engineering, Hubei University of Automotive Technology, Shiyan 442002, China)
出处
《湖北汽车工业学院学报》
2016年第4期24-27,32,共5页
Journal of Hubei University Of Automotive Technology
基金
湖北省自然科学基金计划重点项目(2014CFA120)
关键词
三自由度4WS模型
理想模型
前馈控制
最优控制
操纵稳定性
three degree of freedom 4WS model
ideal model
feed-forward control
optimal control
handling stability
