四轮转向车辆后轮转角模糊控制器的研究  

Research on Fuzzy Controller for Rear Wheel Steering Angle of Four Wheel Steering Vehicle

作　　者：曹艳玲 乔梦楠 CAO Yan-ling;QIAO Meng-nan(College of Vehicle and Traffic Engineering,He’nan University of Science and Technology,He’nan Luoyang471003,China)

机构地区：[1]河南科技大学车辆与交通工程学院,河南洛阳471003

出　　处：《机械设计与制造》2020年第6期66-69,73,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金—多离合器ISG混合动力汽车分层多模式切换协调控制与优化(61473115)。

摘　　要：为了增强车辆转向时的操纵稳定性,建立了包含侧向运动、横摆运动、侧倾运动三个自由度的四轮转向车辆三自由度动力学模型.以前轮转角和车速作为输入,利用模糊控制理论,建立了决策后轮转角大小的模糊控制器.最后运用Matlab/Simulink软件,进行前轮角阶跃试验,并与基于比例控制、反馈控制的四轮转向车辆进行对比仿真.仿真分析结果表明:所建立的四轮转向车辆后轮转角模糊控制器能够有效地缩短车辆到达稳定状态的时间,并能有效地减小质心侧偏角、横摆角速度以及侧倾角的稳态值,从而有效地提高了车辆中高速转向时的操纵稳定性.In order to improve the handling stability of vehicle steering,the three degrees of freedom dynamic model of the four-wheel steering vehicle is established,which includes the lateral motion,the yaw motion and the roll motion.Based on the theory of fuzzy control,the front-wheel steering angle and speed are used to establish the fuzzy controller to determine the size of rear-wheel steering angle.Finally,the Matlab/Simulink software is used to simulate the front-wheel steering angle step test compared with the four-wheel steering vehicle based on proportional control and feedback control.The simulation and analysis results show that the established fuzzy controller of the rear-wheel steering angle of the four-wheel steering vehicle can effectively shorten the time that the vehicle used to reach the steady state,and it can effectively reduce the steady-state value of the side slip angle,the yaw rate and the roll angle.Therefore,the handling stability of vehicle in middle and high speed steering is improved effectively.

关 键 词：模糊控制 四轮转向 三自由度 操纵稳定性 侧倾运动 

分 类 号：TH16[机械工程—机械制造及自动化] U461.6[机械工程—车辆工程]