基于状态反馈的四轮转向汽车最优控制  

Optimization control of four-wheel steering vehicle based on state feedback

作　　者：杜峰[1] 魏朗[1] 赵建有[1] 

机构地区：[1]长安大学汽车学院,陕西西安710064

出　　处：《长安大学学报（自然科学版）》2008年第4期91-94,共4页Journal of Chang’an University(Natural Science Edition)

基　　金：陕西省自然科学基础研究计划项目(2007E206)

摘　　要：为了充分发挥四轮转向技术在改善汽车操纵稳定性方面的优势,对车辆转向的理想状态进行了分析,构建了理想转向模型。依据具有二次型性能指标的最优控制理论,以车辆转向理想模型作为跟踪目标,采用基于状态反馈和前轮前馈的控制策略,对四轮转向汽车后轮转向控制规律进行了研究,并推导了后轮转角最优控制算法。利用Matlab/Simulink工具,对所提出的后轮转向最优控制方法在不同侧重的权值下,分别与比例控制四轮转向汽车和传统的前轮转向汽车进行了动力学仿真对比。仿真结果表明:所设计的后轮转角最优控制器改善了车辆转向的瞬态与稳态响应特性,其瞬态响应的超调量减少,稳定时间缩短;侧向滑移的稳态值有所降低,从而提高了车辆转向的操纵稳定性。To sufficiently utilize the advantages of four-wheel steering （4WS） technology in improving the handle ability and stability of vehicles, the ideal steering model is analyzed and established. By using this ideal model as goal tracked and according to the optimization theory with quadratic performance index, the control law for rear wheel steering is researched based on the feedforward of front wheel and feedback of states, the optimization control algorithm of rear wheel is derived at the same time. By means of the Matlab/Simulink tool, the dynamic simulations with the different weighed values of state variable were carried out, the comparisons of control effect between the optimization control strategy, the scale control 4WS vehicle and the traditional front-wheel steering （FWS） vehicle were also processed. The simulation results show that the controller designed for rear wheel steering can improve the transient and steady state response, the overshoot is decreased and the settling time is shorten in transient state, the side ship is also reduced. So the handle ability and stability is enhanced. 5 figs, 8 refs.

关 键 词：汽车工程 四轮转向(4WS) 最优控制 仿真 操纵稳定性 

分 类 号：U461.1[机械工程—车辆工程]