四轮转向汽车闭环LQR控制仿真研究  

Study and Simulation on Closed-Loop LQR Control for Four-Wheel Steering Vehicle

作　　者：邓召文[1] 易强 高伟[1] 余伟 DENG Zhao-wen;YI Qiang;GAO Wei;YU Wei(Hubei Key Laboratory of Automotive Power Train and Electronic Control,Hubei University of Automotive Technology,Hubei Shiyan 442002,China)

机构地区：[1]汽车动力传动与电子控制湖北省重点实验室,湖北汽车工业学院,湖北十堰442002

出　　处：《机械设计与制造》2022年第1期20-25,共6页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(51375151);湖北省重点实验室创新基金项目(2015XTZX0423)。

摘　　要：为了提高四轮转向(4WS)汽车的操纵稳定性和主动安全性,建立汽车二自由度四轮转向模型和系统状态方程,应用LQR最优控制理论建立了以横摆角速度和质心侧偏角为优化目标的四轮转向线性控制二次型最优控制模型,并基于路径跟踪策略建立预瞄驾驶员方向控制模型。基于"人-车-路"闭环控制系统,在Matlab/Simulink、CarSim联合仿真环境下对普通前轮转向、前后轮转角比例控制、LQR控制的控制效果进行验证。结果表明:LQR控制器能够很好地改善汽车质心侧偏角和横摆角速度的动态响应特性,高速控制效果最佳,基于LQR控制的4WS汽车具有更好的道路循迹能力、高速稳定性和主动安全性。In order to improve theFour-Wheel Steering(4 WS)vehicle handling stability and active safety,the 2-DOF vehicle dynamic model and state equation were established,aiming at the optimal yaw rate and side slip angle,the linear quadratic optimal control model was built applying the Linear Quadratic Optimal control theory(LQR).And the directional preview driver model was established based on tracking follow strategy.The control effects of traditional front-wheel steering,4 WS with proportional control and LQR control were verified in Matlab/Simulink and CarSim co-simulation environment based on the"driver-vehicle-road"closed-loop control system.The results show that LQR controller can improve the dynamic response characteristics of side slip angle and yaw rate,and the control effect at high-speed is the best.The 4 WS with LQR controller has better in path tracking,better high-speed stability and better active safety.

关 键 词：四轮转向 LQR控制 驾驶员模型 闭环系统 操纵稳定性 路径跟踪 

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]