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

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

Abstract

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

CLC Number:

U463.4

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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