模型跟踪主动四轮转向汽车最优控制研究  

Optimal Control for Active 4WS Vehicle Based on Model Tracking Technology

作　　者：杜峰[1] 李伦[2] 魏朗[1] 赵建有[1] 

机构地区：[1]长安大学汽车学院,西安710064 [2]河南科技大学河南省机械设计及传动系统重点实验室,河南洛阳471003

出　　处：《拖拉机与农用运输车》2009年第1期16-18,21,共4页Tractor & Farm Transporter

基　　金：陕西省自然科学基础研究计划资助项目(2007E206)

摘　　要：基于车辆线控转向技术,根据最优控制理论,提出了一种汽车前、后轮转角主动转向控制新策略。以汽车侧向动力学二自由度模型为基础,确立了车辆转向理想跟踪模型,设计了四轮主动转向最优控制器,对所设计的控制器进行了仿真分析与验证。仿真结果表明:所设计的前、后轮转角最优控制器改善了车辆瞬态与稳态响应特性,且能很好地跟随理想车辆转向模型,提高了车辆的操纵稳定性。Based on the steering-by-wire technology and optimal control theory,a new control strategy for active fourwheel steering vehicle is put forward. An ideal tracking model is constructed by means of 2 degree-of-freedom vehicle dynamic model, an optimal controller is designed for active four-wheel steering vehicle and correlative simulation analyses are carried out. The simulation results show that the controller designed can improve the transient and steady state response characteristics of vehicle, and can accurately follow the ideal turning model ;the handling stability of vehicle is improved consequently.

关 键 词：四轮转向(4WS) 模型跟踪 最优控制 操纵稳定性 

分 类 号：U461.6[机械工程—车辆工程] U463.4[交通运输工程—载运工具运用工程]