基于轮胎侧偏的差动转向及控制  

Control of a tire-cornering based differential steering system

作　　者：宋健[1] 赵文宗 戴亚奇 程帅[1] 李飞[1] SONG Jian;ZHAO Wenzong;DAI Yaqi;CHENG Shuai;LI Fei(State Key Laboratory of Automotive Safety and Energy,Tsinghua University,Beijing 100084,China)

机构地区：[1]清华大学汽车安全与节能国家重点实验室,北京100084

出　　处：《清华大学学报（自然科学版）》2020年第2期117-123,共7页Journal of Tsinghua University(Science and Technology)

摘　　要：基于轮胎侧偏的差动转向是一种可用于大曲率半径转向场景的转向方式。该文建立了分布式驱动车辆的仿真模型,分析了基于轮胎侧偏的差动转向过程,建立了系统的状态方程,分析了系统的稳定性和能控性,讨论了差动转向的转向能力及其影响因素。基于稳态转向参考力矩模型,提出了一种基于模糊推理前馈补偿的控制方法。仿真结果表明:该方法可以提升系统响应的快速性,对不同车速下的转向需求均有良好的适应性。Differential steering based on the tire cornering characteristics is applicable to large-radius curves. This paper presents a model of an independently driven four wheel electric vehicle. The state-space equation for the differential steering system is used to analyze the stability and controllability and to analyze the factors influencing the steering ability. A steady-state steering torque model is used in a control method based on fuzzy inference feedforward compensation. Simulations show that the control algorithm not only improves the system response time but is also adaptable to different steering needs at different speeds.

关 键 词：差动转向 模糊推理 前馈补偿 转向控制 轮胎侧偏特性 

分 类 号：U463.41[机械工程—车辆工程]