基于Matlab的某4WS越野车建模与仿真  

Modeling and Simulation of a 4WS Off-road Vehicle Based on Matlab

作　　者：周红妮[1] 冯樱[1] 汪振晓[2] 范卫兵[2] 薛敏[2] 

机构地区：[1]湖北汽车工业学院汽车工程学院,湖北十堰442002 [2]东风汽车集团股份有限公司技术中心,湖北武汉430058

出　　处：《湖北汽车工业学院学报》2015年第3期17-22,共6页Journal of Hubei University Of Automotive Technology

基　　金：湖北省自然科学基金计划重点项目(2014CFA120);武汉理工大学汽车零部件技术湖北省重点实验室开放基金项目(2014-08)

摘　　要：通过建立的三自由度4WS汽车模型,基于零质心侧偏角-前馈控制,利用Matlab软件建立了某4WS越野车仿真模型,通过参数的时域与频域响应分析,结果表明:与2WS相比,时域分析中基于前馈控制的4WS汽车明显减小了质心侧偏角,路径跟踪能力较好,同时有效提高了低速时的操纵性和机动性,以及高速时的稳定性和安全性,并具有较好的瞬态响应特性。频域分析表明驾驶员以不同低频缓慢转动方向盘时,4WS汽车输出响应能较好地执行驾驶员的输入指令,同时相位滞后相对不大,汽车操纵稳定性随输入频率变化的动态特性较好。Based on the three degree of freedom 4WS model and zero sideslip angle feed-forward con-trol, a 4WS off-road vehicle simulation model was established by the Matlab software, and the responseparameters were analyzed in time and frequency domain, the results show that comparing with 2WS, thesideslip angle of 4WS is reduced obviously based on feed-forward control in time domain analysis, sothe capacity of path tracking is better than 4WS. Mean while, the handling and mobility at low speedand the stability and safety at high speed of 4WS are enhanced when steering, and the transient re-sponse is better as well. The frequency domain analysis shows that the output response of 4WS can car-ry out the input order well when the driver turns steering wheel slowly at different low frequency, andthe phase delay is not big, so the vehicle handling stability of 4WS has good dynamic characters.

关 键 词：4WS越野车 三自由度模型 质心侧偏角 操纵稳定性 时域与频域分析 

分 类 号：U463.42[机械工程—车辆工程]