湖北汽车工业学院学报2024，Vol.38Issue(1)：13-17,5.DOI:10.3969/j.issn.1008-5483.2024.01.003
四轮转向汽车控制策略及稳定性研究
Control Strategy and Stability of Four-wheel Steering Automobiles
摘要
Abstract
A control strategy of joint lateral control of four-wheel steering and longitudinal control of the braking force(4WS-DYC)was proposed.A two-degree-of-freedom vehicle dynamics model was estab-lished to calculate the centroid deflection angle and yaw angular velocity of the vehicle at a steady state.Based on the optimal control theory,a linear quadratic regulator(LQR)controller of four-wheel steering and a longitudinal controller of hierarchical braking force were established.Finally,the effect of the control strategy under the condition of double line shift was verified.The experimental results show that the 4WS-DYC control strategy is effective.Compared with the CarSim model,the centroid deflection angle is reduced by 65%at low speed,and the yaw angular velocity is reduced by 34%at high speed.关键词
四轮转向/LQR控制/制动力纵向控制/联合控制Key words
four-wheel steering/LQR control/longitudinal control of braking force/joint control分类
交通工程引用本文复制引用
寇宝成,刘成武..四轮转向汽车控制策略及稳定性研究[J].湖北汽车工业学院学报,2024,38(1):13-17,5.基金项目
汽车零部件技术湖北省协同创新项目(2015XTZX04) （2015XTZX04）
