四轮独立转向系统控制策略与试验  

Advanced Vehicle Control Technology Using Four-wheel Independent Steering System

作　　者：舒进[1] 陈思忠[1] 杨林[1] 

机构地区：[1]北京理工大学机械与车辆工程学院

出　　处：《农业机械学报》2005年第7期25-28,31,共5页Transactions of the Chinese Society for Agricultural Machinery

摘　　要：提出了一种通过独立控制后轮转向以提高车辆操纵稳定性和机动灵活性的方法。具体阐述了四轮独立转向控制系统的总体结构。根据独立转向控制策略,建立了四轮独立转向汽车数学模型,推导出独立后轮转角的函数表达式。分析了四轮独立转向模型仿真结果与四轮独立转向样车道路试验结果,并验证了四轮独立转向理论的有效性与可行性。Improvements on vehicle handling stability and maneuverability were achieved through active and independent rear wheels control in this work. The concrete overall design of the four wheel independent steering system (4WIS) was formulated in details. According to the control strategy, the mathematical model of 4WIS was analyzed to deduce the relationships between separated rear wheel steering angles and some vehicle parameters. The simulation results and the road test data show that a 4WIS system has better performances in kinematical harmony and control responsiveness than those from a conventional 4WS vehicle.

关 键 词：四轮独立转向系统 控制方法 数学模型 

分 类 号：U461.6[机械工程—车辆工程]