基于模型跟踪最优控制的3轴全轮转向车辆操纵稳定性分析  

The Handling Stability Analysis of Three-axle AWS Vehicle Based on the Optimal Model Tracking Control

作　　者：袁磊[1] 刘西侠[1] 杜峰[2] 刘维平[1] 

机构地区：[1]装甲兵工程学院,北京100072 [2]天津职业技术师范大学,天津300222

出　　处：《汽车技术》2016年第3期30-35,共6页Automobile Technology

摘　　要：针对3轴车辆操纵稳定性差的问题,在建立车辆理想转向模型的基础上,设计了全轮转向理想模型跟踪最优控制器,基于人-车闭环操纵性综合评价方法分析了全轮转向最优控制、零质心侧偏角控制和原双前桥转向车辆的操纵性,并基于车辆相平面稳定性分析理论分析了全轮转向最优控制和双前桥转向车辆的高速稳定性。结果表明:模型跟踪最优控制车辆具有更好的路径跟踪能力以及更宽的稳定性区域,能够较为有效地改善3轴车辆的操纵稳定性。To improve handling stability of three-axle vehicle, an optimal controller for ideal all-wheel steering （AWS） model is designed based on the establishment of ideal vehicle steering model. Handling stability of vehicle with AWS optimal control, zero eentroid side-slip angle control and the original double front-axle steering based on the comprehensive evaluation method of human-vehicle closed-loop handling are analyzed, high-speed stability of AWS vehicle optimal control and double front-axle steering based on vehicle phase plane stability analysis theory. The results show that the vehicle with model tracking optimal control has better path tracking ability and wider stability region and it can improve the handling stability of three-axle vehicle effectively.

关 键 词：3轴车辆 驾驶员模型 操纵稳定性 理想模型 

分 类 号：U463.4[机械工程—车辆工程]