吉林大学学报(工学版) ›› 2019, Vol. 49 ›› Issue (3): 934-942.doi: 10.13229/j.cnki.jdxbgxb20170822

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基于三步法的汽车主动四轮转向控制

于树友1,2(),谭雷2,王伍洋2,陈虹1,2   

  1. 1. 吉林大学 汽车仿真与控制国家重点实验室，长春 130022
    2. 吉林大学 通信工程学院，长春 130012
  • 收稿日期:2017-08-04 出版日期:2019-05-01 发布日期:2019-07-12
  • 作者简介:于树友(1974?)，男，教授，博士. 研究方向：预测控制，非线性控制. E?mail:shuyou@jlu.edu.cn
  • 基金资助:
    国家自然科学基金项目(61573165,61520106008)

Control of active four wheel steering vehicle based ontriple⁃step method

Shu⁃you YU1,2(),Lei TAN2,Wu⁃yang WANG2,Hong CHEN1,2   

  1. 1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
    2. College of Communication Engineering, Jilin University, Changchun 130012, China
  • Received:2017-08-04 Online:2019-05-01 Published:2019-07-12

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摘要：

为了提高线控主动四轮转向汽车的主动安全性、操纵稳定性，将三步法控制策略应用于线控主动四轮转向车辆控制问题中，以跟踪参考模型输出为控制目标设计了三步法控制器。该控制器由类稳态控制、考虑参考变化的前馈控制和状态相关的误差反馈控制3部分构成。通过对线控主动四轮转向汽车的前、后轮转角进行控制，保证实际的车辆质心侧偏角和横摆角速度对理想的质心侧偏角和横摆角速度的状态跟踪。采用非线性八自由度汽车模型对控制器的有效性进行验证。仿真结果表明：所设计的控制器能够跟踪上理想模型输出值，提高了线控主动四轮转向汽车的操纵稳定性。

关键词: 自动控制技术, 主动四轮转向, 模型跟踪, 三步法, 操纵稳定性

Abstract:

In order to improve the handling stability of active four?wheel steering vehicle based on the Steer by Wire technology, a nonlinear triple?step method is adopted to the linear active four?wheel steering systems so as to track the output of the ideal reference model. The proposed scheme consists of three parts: steady?state?like control, feedforward control considering the variation of the reference signal, and state?dependent error feedback control. The method guarantees that the actual sideslip angle and yaw rate can track the ideal sideslip angle and the ideal yaw rate by the control of the front wheel angle and rear wheel angle of active four wheel systems. A nonlinear eight DOF vehicle model is used to verify the effectiveness of the proposed scheme. Simulation results show that the designed controller can track the output of ideal reference model and improve the handling stability of the active four?wheel steering system.

Key words: automatic control technology, active four wheel steering, model tracking, triple?step method, handing stability

中图分类号: 

  • TP273

图1

二自由度车辆模型"

图2

主动四轮转向汽车系统框图"

表1

整车参数"

参数 数值
整车质量m/kg 1704.7
质心到前轴的距离a/m 1.035
质心到后轴的距离b/m 1.665
横摆转动惯量Iz /(kg·m2) 3048.1
前轮侧偏刚度k f/(N·rad?1) 39515.0
后轮侧偏刚度k r/(N·rad?1) 39515.0

图3

低速时方向盘角阶跃响应曲线"

图4

高速且受侧向风干扰时方向盘角阶跃响应曲线"

图5

高速且整车质量变化时的方向盘角阶跃响应曲线"

图6

高速时方向盘连续正弦响应曲线（试验1）"

图7

高速时方向盘连续正弦响应曲线（试验2）"

图8

三步法控制器的输出"

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