基于变传动比的后轮主动转向控制方法研究  

Research on active steering control of rear wheels based on variable transmission ratio

作　　者：邱浩[1,2] 雷正保[1] 贺萍[2] 

机构地区：[1]长沙理工大学汽车与机械学院,湖南长沙410004 [2]深圳职业技术学院汽车与交通学院,广东深圳518055

出　　处：《机械设计》2015年第1期90-94,共5页Journal of Machine Design

基　　金：国家自然科学基金资助项目(51175050);广东省自然科学基金资助项目(S2013010013931);深圳市技术创新研究课题资助项目(CXZZ20120617143011586)

摘　　要：为了改善汽车的操纵稳定性,获得理想的转向特性,利用四轮独立驱动、四轮独立转向电动汽车转向灵活的优势,提出一种基于后轮主动转向技术的变传动比控制策略。综合考虑了汽车在低速行驶时的操纵响应性能,及高速行驶时的行驶稳定性能,通过变传动比设计期望横摆角速度;采用LQR最优控制方法设计汽车的后轮主动转向控制器,实现对期望横摆角速度的跟踪。仿真结果表明,所提出的控制策略不但提高了汽车在低速下的操纵响应,还增强了汽车在高速行驶时的稳定性能。A control strategy of variable ratio based on an active steering technology of the rear wheels was presented in order to improve the controlling stability and obtain ideal steering characteristics of the vehicles by the flexible steering advantages of 4WID-4WIS electrical vehicles.The control response of the vehicles at low speed and driving stability at high speed were considered comprehensively.An expected yaw velocity was designed by variable ratio and LQR optimal control method was adopted to design the active steering controller of the rear wheels to realize the tracking of expected yaw velocity.The simulation result shows that the proposed control strategy improves not only the control response but also the driving stability.

关 键 词：4WS 操纵稳定性 横摆角速度 主动控制 跟踪控制 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]