四轮转向车辆横摆角速度反馈与神经网络自适应混合控制的研究  

A Study on the Hybrid Control of Four-wheel-steering Vehicle Based on Yaw Rate Feedback and Neural Network Adaptive Control

作　　者：宋宇[1,2] 陈无畏 陈黎卿[1,2] 

机构地区：[1]舍肥工业大学机械与汽车工程学院,合肥230009 [2]安徽农业大学工学院,合肥230036

出　　处：《汽车工程》2013年第1期66-71,共6页Automotive Engineering

基　　金：国家自然科学基金项目(51075112);安徽省高校自然科学研究重点项目(KJ2010A122)资助

摘　　要：采用ADAMS/Car软件建立了四轮转向车辆虚拟样机模型,设计了一种车辆横摆角速度反馈与神经网络自适应的混合控制系统,有效解决了轮胎大侧偏角下的非线性问题,使神经网络权系数的在线修正速度快,难度低,赋予系统自适应能力。理论分析和仿真结果表明,所构建的四轮转向车辆混合控制系统是可行的,所采用的ADAMS与MATLAB联合仿真方法是有效的。A virtual prototype model for four-wheel-steering vehicle is built with ADAMS/Car software and a hybrid control system is designed based on yaw rate feedback and neural network adaptive control. The system ef- fectively solves the nonlinear problem of tire at large sideslip angle, speeds up and facilitates the on-line correction of weighting coefficients of neural network and endows the system with self-adaptive ability. The results of theoretical analysis and simulation show that the hybrid control system built for four-wheel,steering vehicle is feasible and the ADAMS / MATLAB co-simulation method adopted is effective.

关 键 词：四轮转向 横摆角速度反馈 神经网络自适应控制 混合控制 

分 类 号：U463.4[机械工程—车辆工程]