重庆理工大学学报2026，Vol.40Issue(13)：38-44,7.DOI:10.3969/j.issn.1674-8425(z).2026.07.005
兼顾容错的线控4WS系统动态LQR控制
Dynamic LQR control of fault-tolerant steering-by-wire four-wheel steering system
摘要
Abstract
To improve the steering-by-wire vehicles'handling stability and active safety in both normal and abnormal driving conditions,this paper developed a fault-tolerant dynamic LQR control strategy for the steering-by-wire four-wheel steering(4WS)system.The strategy aims to track ideal yaw rate and center of gravity deflection angle,utilizing optimal control theory and phase plane analysis methods.By dynamically adjusting weighting coefficients between ideal and actual deviations,it achieves coordinated optimization of vehicle handling and stability.Additionally,a fault-tolerant control mechanism was developed for front or rear wheel steering failures to mitigate safety risks caused by actuator malfunctions.Simulation results demonstrate under normal steering conditions,it enhances trajectory tracking accuracy by over 18.8％,effectively reduces center of gravity deflection angle,and exhibits superior yaw rate response compared to traditional four-wheel steering control methods.When steering system failures occur,the vehicle maintains straight-line driving stability and basic steering capability,enhancing the driving safety.关键词
线控四轮转向/LQR控制/相平面图/动态权重/容错控制Key words
steering-by-wire 4WS/LQR control/phase plane diagram/dynamic weight/fault-tolerant control分类
交通工程引用本文复制引用
宋燕利,薛贤鑫,谢庆喜,赵春来..兼顾容错的线控4WS系统动态LQR控制[J].重庆理工大学学报,2026,40(13):38-44,7.基金项目
湖北省重点研发计划项目(2025BAB026) （2025BAB026）
广西科技重大专项(桂科AA23062065) （桂科AA23062065）
教育部创新团队发展计划(IRT_17R83) （IRT_17R83）
湖北省"楚天英才计划"科技创新团队资助 （）
