基于前馈-反馈联合控制策略的4WS汽车仿真与研究  

Simulation and Research on 4WS Vehicle Based on Feedforward-feedback Joint Control

作　　者：杨鸿福 周红妮[1] 冯樱[1] Yang Hongfu;Zhou Hongni;Feng Ying(Hubei Key Laboratory of Automotive Power Train and Electronic Control,Hubei University of Automotive Technology,Shiyan 442002,China)

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

出　　处：《湖北汽车工业学院学报》2022年第4期12-16,共5页Journal of Hubei University Of Automotive Technology

基　　金：湖北省教育厅科研计划优秀中青年项目(Q20191805);汽车零部件技术湖北省协同创新项目(2015XTZX0414)。

摘　　要：为了改善汽车行驶过程中的操纵稳定性,提出四轮转向(four wheel steering,4WS)联合控制方法。采用零质心侧偏角前馈控制器和横摆角速度模糊PID反馈控制器,对某4WS汽车后轮进行前馈-反馈联合控制。利用CarSim与MATLAB/Simulink分别搭建了4WS整车模型和控制算法模型,并在角阶跃工况下对4WS汽车进行了联合仿真实验,分析质心侧偏角和横摆角速度变化。结果表明:与前轮转向和零质心侧偏角前馈控制方式相比,4WS联合控制策略能明显提高不同车速下的汽车操纵稳定性,综合控制效果较好。In order to improve vehicle handling stability during driving,a joint control method was proposed for 4WS vehicles.The feedforward-feedback controller of zero centroid sideslip angle and yaw rate fuzzy PID feedback controller were used to control the rear wheels of a 4WS vehicle.The 4WS vehi⁃cle model and control algorithm model were established by using CarSim software and MATLAB/Simulink respectively.And the joint simulation experiment of 4WS vehicle was carried out under angular step condition,the changes of centroid sideslip angle and yaw rate were analyzed.The simulation results show that compared with the front wheel steering and zero centroid sideslip angle,the joint control strategy of 4WS can significantly improve the handling stability of the car.And the comprehensive con⁃trol effect of the joint control strategy of 4WS is better.

关 键 词：前馈控制器 模糊PID控制算法 联合仿真 四轮转向 

分 类 号：U461.6[机械工程—车辆工程]