摘要
建立了包含车身侧倾特性、转向系统特性和制动特性的四轮转向车辆动力学随动操纵控制模型。考虑到作为车辆状态量之一的车辆质心侧偏角难以测量,设计了用于重构车辆状态的状态观测器。最后,基于重构的车辆状态,运用最优控制理论设计了四轮转向车辆随动操纵控制器,实现了所谓的线传操纵(Steer by wire)。仿真表明,反映车辆操纵性能的车辆状态量能很好地跟踪驾驶员发出的操纵指令,车辆具有独特、良好的机动性能。
A follow up control model of 4WS vehicle handling dynamics is introduced firstly, which consists of the roll motion dynamic property, the steering dynamic property and the braking dynamic property. The state estimator is designed to estimate the vehicle states due to the difficulty of measuring the sideslip angle of vehicle center directly. Finally, the optimal control theory is used to design the vehicle follow up handling controller based on state estimator, and the steer by wire system is built. Simulation results show that 4WS vehicle can be handled easily and favorably by the driver's command and possessed very well and special handling performance.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2004年第1期50-55,共6页
Journal of Mechanical Engineering
基金
福特-中国基金资助项目(50122122)。
