多轴转向车辆模型跟踪控制分析  

Analysis of model-following control for multi-axle steering vehicle

作　　者：张小江[1] 高秀华[1] 王云超[2] 程伟峰[1] 

机构地区：[1]吉林大学机械科学与工程学院,长春130025 [2]集美大学机械工程学院,福建厦门361021

出　　处：《重庆大学学报（自然科学版）》2013年第3期32-36,共5页Journal of Chongqing University

基　　金：国家青年科学创新基金资助项目(51105171);江苏省科技成果转化专项资金项目(BA2007038)

摘　　要：为降低对多轴转向车辆的控制难度,在考虑前轴机械转向对车辆转向性能的影响的基础上,对多轴转向车辆动力学模型进行了改进,将前轴车轮转角隐含到控制变量中;在改进的动力学模型的基础上,利用模型跟踪控制理论结合极点配置方法对多轴转向车辆进行了分析,得到车辆在不同车速情况下的横摆角速度和质心侧偏角的瞬态响应和频域特性。分析结果表明,利用模型跟踪方法对车辆进行控制,能获得较理想的跟踪效果,车辆在高速时瞬态响应没有超调量,响应时间缩短,提高了车辆在高速时的稳定性。The dynamic model of multi-axle steering vehicle is improved by considering the impact of the front-axle mechanical steering on the vehicle steering performance and implying the front-axle wheel angle in control variables to reduce the difficulty of vehicle control.On the basis of modified dynamic model,the multi-axle vehicle is analyzed by combining model-following method with pole assignment process.The transient response and frequency domain characteristics of the yaw angle velocity and sideslip angle at different speeds are obtained.The results indicate that,using model-following method to control vehicle can obtain desired tracking effects.At high speed,the transient response has no overshoot,the response time is shortened,and the stability of vehicle is improved.

关 键 词：多轴转向 动力学模型 极点配置 目标跟踪 

分 类 号：TJ818[兵器科学与技术—武器系统与运用工程]