摘要
四轮转向系统作为一种新型汽车转向技术,能有效地改善汽车行驶过程的动态稳定性。然而,目前缺少有效的驾驶员模型可用于四轮转向控制系统设计初期的性能评估。在两轮转向驾驶员模型的基础上,基于前馈加反馈的后轮主动转向控制率,建立了一种适用于四轮转向汽车的驾驶员模型。该模型先依据四轮转向二自由度侧向动力学模型获得驾驶员前馈校正环节,采用前视预瞄偏差信息来计算期望前轮转角。再结合驾驶员手臂和方向盘之间的交互力矩建立驾驶员转动方向盘动态控制器。仿真结果表明:所建立的驾驶员模型可有效用于四轮转向汽车的转向控制,并可为电动助力转向系统的助力特性设计和优化提供闭环仿真手段。
The four-wheel-steering （4WS） system, as a new steering technology,can effectively improve the dynamic stability of vehicles. There is, however, no effective driver model that can be used to evaluate the performance of the 4WS control system at initial design phase. On the basis of traditional driver model designed for front wheel steering vehicle, a novel driver model for 4WS vehicle is proposed based on rear wheel active steering control law with feed forward and feedback, which can be used to evaluate 4WS vehicles. The new model obtains the driver feed forward correction according to the 2DOF 4WS lateral dynamics model, and employs upcoming road preview deviation infor- mation to calculate the desired front wheel angle, then, designs the dynamic controller for driver steering according to the interactive torque between driver＇ s arm and steering wheel. Simulation results show that the established driver model can be effectively applied to control the direction of 4WS vehicles and also provide a closed-loop simulation approach for the design and optimization of assistant power characteristics of EPS.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2013年第12期2736-2742,共7页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金(11202096)
江苏省高校自然科学研究基金(13KJB510005)
高等学校博士学科点专项科研基金(20133218120028)资助项目
关键词
驾驶员
建模
动态控制
四轮转向
电动助力转向系统
driver
modeling
dynamic control
four wheel steering
electric power steering system （ EPS ）
