四轮转向汽车控制策略研究  

Research on Control Strategy of 4WS Vehicle

作　　者：范英 徐媛 FAN Ying;XU Yuan(School of Traffic and Logistics,Taiyuan University of Science and Technology,Taiyuan 030024,China)

机构地区：[1]太原科技大学交通与物流学院,太原030024

出　　处：《太原科技大学学报》2022年第4期335-339,345,共6页Journal of Taiyuan University of Science and Technology

基　　金：山西省科技攻关计划(201903D121176);山西省重点研发计划项目(201803D31076)。

摘　　要：针对四轮转向汽车比例前馈控制算法控制效果及稳定性差等缺点,在四轮转向二自由度模型基础上考虑车身的侧倾及轮胎的非线性特性,建立三自由度非线性模型。在此基础上,利用模糊规则库对PID控制器的参数进行校正,设计了改进的模糊PID控制器,并在阶跃仿真试验下,与传统的前轮转向汽车和比例前馈控制下的四轮转向汽车进行了操纵稳定性仿真对比分析。仿真结果表明:改进的模糊PID控制器控制效果更佳,操纵稳定性和行驶安全性更好。Aiming at the shortcomings of four-wheel steering vehicle proportional feed-forward control algorithm control effect and poor stability,a 3-DOF non-linear model is established based on the 2-DOF model of four-wheel steering considering the non-linear characteristics of body roll and tire.On this basis,the fuzzy rule library is used to correct the parameters of the PID controller,and an improved fuzzy PID controller is designed.Under the step simulation test,the four-wheeled vehicle under proportional feedforward control is compared with the traditional front-wheel steering vehicle.The steering car was simulated and analyzed for handling stability.The simulation results show that the improved fuzzy PID controller has better control effect,better handling stability and driving safety.

关 键 词：四轮转向 三自由度非线性模型 模糊PID 操纵稳定性 

分 类 号：U461.6[机械工程—车辆工程]