摘要
针对主动四轮转向的4WS汽车操纵稳定性问题,基于滑模变结构控制原理设计了4WS控制器,用于跟踪期望横摆角速度和期望质心侧偏角;同时,为了构建人车路闭环控制系统,对真实汽车驾驶员的预瞄决策机理进行了分析研究,建立了基于方向预瞄的驾驶员模型;最后,结合汽车8DOF非线性模型对人车路闭环控制系统进行了仿真研究。仿真结果表明:设计的4WS控制器能够很好地实现对期望横摆角速度和期望质心侧偏角的跟踪控制;同时,基于方向预瞄的驾驶员模型也能很好地用于汽车的操纵稳定性控制。
According to active four-wheel steering（ 4 WS ）vehicle handling stability of the research problem,based on the principle of sliding mode variable structure control design for 4WS controller, is used to track the expected yaw rate and side-slip angle. In order to build a driver-vehicle-road closed-loop control system,the real driver’s aim decision-making mechanism was analyzed to build a preview driver model. At last,this paper provided simulation analysis combined with nonlinear 8 de-gree of freedom model in the driver-vehicle-road closed-loop control system. Simulation results show that it realizes the expected yaw rate and side-slip angle by design of the 4WS controller,and it can be used in handling stability control based on the preview driver model.
出处
《重庆理工大学学报（自然科学）》
CAS
2014年第11期12-17,共6页
Journal of Chongqing University of Technology：Natural Science
基金
国家自然科学基金资助项目(61106029)
高等学校博士学科点专项科研基金新教师类资助项目(20133218120028)
中央高校基本科研业务费专项资金
南京航空航天大学研究生创新基地(实验室)开放基金资助项目(kfjj201405)
