摘要
为了避免在高速公路行驶场景中极易发生的侧滑和甩尾现象,在车辆前馈比例转向控制策略的基础上提出根据横摆角速度变化量与变化率来动态调节前后轮转角补偿量的模糊控制方法,并结合闭环控制下的转向伺服电机来实现车轮的转向补偿,最后实现对传统前馈比例转向控制策略的优化。在MATLAB环境下对模糊控制的四轮转向车辆的转弯横摆率和质心侧偏角进行仿真,结果显示模糊控制下的前后轮转向补偿方法可以提高横摆角速度和质心侧偏角响应的快速性,同时又能显著降低超调量,相比前馈比例转向控制策略具有较强的稳定性。
In order to avoid the side slip and tail-flick phenomenon that are prone to occur in highway driving scenes,a fuzzy control method for dynamically adjusting the front and rear wheel angle compensation according to the change and rate of change of the yaw rate is proposed based on the vehicle feedforward proportional steering control strategy,and the steering servo motor under closed-loop control is combined to realize the steering compensation of the wheels.Finally,the optimization of the traditional feedforward proportional steering control strategy is realized.The turning yaw rate and the center of mass side slip angle of the fuzzy control four-wheel steering vehicle are simulated in MATLAB environment.The results show that the front and rear wheel steering compensation method under the fuzzy control can improve the yaw rate and the rapidity of the center of mass side slip angle response.At the same time,it can significantly reduce the overshoot,which is more stable than the feedforward proportional steering control strategy.
作者
屈文涛
李文锐
高睿
杨斌
徐剑波
QU Wentao;LI Wenrui;GAO Rui;YANG Bing;XU Jianbo(School of Mechanical Engineering,Xi’an Shiyou University,Xi’an 710065,China;Southwest Oil and Gas Field Discipline Inspection and Audit Center,Chengdu 610000,China;The Third Gas Production Plant of Changqing Oilfield Branch,Uxin Banner 017300,China)
出处
《电子机械工程》
2021年第2期55-59,共5页
Electro-Mechanical Engineering
关键词
四轮转向
模糊控制
伺服电机
操稳性
four-wheel steering
fuzzy control
servo motor
stability
