某四轴车辆全轮转向最优补偿控制策略研究

doi:10.16182/j.issn1004731x.joss.17-0103

系统仿真学报 ›› 2019, Vol. 31 ›› Issue (3): 528-537.doi: 10.16182/j.issn1004731x.joss.17-0103

某四轴车辆全轮转向最优补偿控制策略研究

王保华, 喻超

湖北汽车工业学院,湖北十堰 442000

收稿日期:2017-03-06 发布日期:2019-11-20
作者简介:王保华(1972-),男,河南,博士,教授,研究方向为汽车系统动力学与控制、汽车先进转向技术。
基金资助:
国家自然科学基金(51375151),湖北省科技支撑计划(2015BAA046),湖北省重点实验室项目(2014XY01,ZDK201214)

Optimal Compensation Control Strategy for Four-axle Vehicle with All-wheel Steering System

Wang Baohua, Yu Chao

Hubei University of Automotive Technology, Shiyan 442000, China

Received:2017-03-06 Published:2019-11-20

摘要/Abstract

摘要： 针对传统多轴商用车稳定性差等问题,提出一种多轴车辆全轮转向最优控制策略。研究车轮转角比例前馈控制算法和横摆角速度反馈控制算法,提出车轮转角比例前馈+横摆角速度反馈的最优补偿控制算法。建立四轴全轮转向车辆模型,通过联合仿真验证了所设计的控制策略。结果表明：全轮转向最优补偿控制策略能够在所有车速下保持质心侧偏角趋近于零,使汽车低速时转弯半径减小50%,高速时横摆角速度有效跟踪理想值,多轴车辆的转向性能和操纵稳定性显著改善。

关键词: 四轴车辆, 全轮转向, 最优控制, 控制策略

Abstract: Aiming at the problem of poor stability of traditional multi-axle commercial vehicles, an optimal control strategy for multi-axle steering wheel is proposed. Through the establishment of the four-axis vehicle model, the wheel angle proportional feed-forward control algorithm and the yaw rate feedback control algorithm are studied. The optimal compensating control algorithm of the wheel angle proportional feed-forward and yaw rate feedback is proposed, and the control strategy is also verified through joint simulation. The results show that the full-wheel steering optimal compensation control strategy can keep the center-of-mass skew angle close to zero at all vehicle speeds, reduce the turning radius about 50% at low speed and track effectively the ideal value of yaw rate at high speed. The steering performance and handling stability are significantly improved.

Key words: four-axle vehicle, all-wheel steering, optimal control, control strategy

中图分类号:

U463.4

王保华, 喻超. 某四轴车辆全轮转向最优补偿控制策略研究[J]. 系统仿真学报, 2019, 31(3): 528-537.

Wang Baohua, Yu Chao. Optimal Compensation Control Strategy for Four-axle Vehicle with All-wheel Steering System[J]. Journal of System Simulation, 2019, 31(3): 528-537.

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某四轴车辆全轮转向最优补偿控制策略研究

Optimal Compensation Control Strategy for Four-axle Vehicle with All-wheel Steering System

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