四轮转向干预下电动助力转向控制策略研究OA北大核心CSTPCD

Four-wheel steering(4WS)vehicles are more flexible than front-wheel steering(FWS)vehicles.However,the steering resistance torque varies as the improvement of vehicle handling and stability with rear-wheel steering,which makes the power strategy of the original electric power steering system mismatch with 4WS vehicles and affects driving safety.Based on the 2-DOF linear bicycle model,the steering characteristics of front-wheel steer-ing vehicles and four-wheel steering vehicles are compared and analyzed,and the modified control strategy of elec-tric power steering is proposed.The simulation results show that the steering wheel torque of the 4WS vehicle with power correction is basically the same as that of the FWS vehicle under the condition of angle step,which not only ensures the handling portability of the four-wheel steering vehicle at low speed but also takes into account the han-dling stability at high speed.