四轮转向车辆后轮转角控制方法研究

doi:10.19562/j.chinasae.qcgc.2023.12.006

Abstract

Abstract:

In order to improve the maneuverability of four-wheel steering vehicles at low speeds， a dynamic model of two-degree-of-freedom four-wheel steering vehicle including lateral movement and sideways movement is established and the rear wheel angle control method of four-wheel steering vehicle is summarized and summarized. Then a joint simulation platform of CarSim and Matlab/Simulink is built to make the actual steering state of the vehicle model established in CarSim close to the preset ideal steering state of two degrees of freedom. Finally， the simulation comparative analysis of several control methods is carried out by setting three working conditions， including the front wheel angle step input. The results show that the control strategies mentioned in this paper can improve the maneuverability of four-wheel steering vehicles at low speeds， making the vehicles have higher maneuvering and motion ability， which lays a foundation for finding an optimal control strategy for the rear wheel angle of four-wheel steering vehicles.

Key words: four-wheel steering vehicle, rear wheel angle control, simulation analysis

Pei Zhang,Wenxin Sun,Jie Hu,Fuwu Yan,Qian Xu,Taowei Yan. Research on Rear Wheel Angle Control Method of 4WS Vehicle[J].Automotive Engineering, 2023, 45(12): 2242-2250.

Figures/Tables 16

参数名称	参数符号	参数数值	参数单位
整车质量	m	1 548	kg
总轴距	L	2.9	m
质心至前轴距离	a	1.015	m
质心至后轴距离	b	1.895	m
前两轮侧偏刚度	k₁	-112 600	N/rad
后两轮侧偏刚度	k₂	-94 548	N/rad
车轮滚动半径	R	0.325	m
绕z轴转动惯量	I_z	1 536.7	kg· $m 2$

References 18

1	RUSSELL H E B， GERDES J C. Design of variable vehicle handling characteristics using four-wheel steer-by-wire［J］. IEEE Trans. Contr. Sys. Techn.， 2016， 24（5）： 1529-1540.
2	羊玢，陈宁，田杰，等. 基于比例控制的4WS汽车操纵稳定性仿真研究［J］. 北京理工大学学报， 2013， 33（8）： 820-823，847.
	YANG X， CHEN N， TIAN J， et al. Simulation study on 4WS vehicle handling stability based on proportional control［J］. Transactions of Beijing Institute of Technology， 2013， 33（8）： 820-823， 847.
3	彭锦. 基于横摆角速度反馈的汽车四轮转向控制研究［J］. 湖南理工学院学报（自然科学版）， 2017， 30（3）： 38-43.
	PENG J. Research on four-wheel steering control of automobile based on yaw angle speed feedback［J］. Journal of Hunan Institute of Technology （Natural Science Edition）， 2017， 30（3）： 38-43.
4	LV H M， LIU S N. Closed-loop handling stability of 4WS vehicle with yaw rate control［J］. Journal of Mechanical Engineering， 2013， 59（10）： 595-603.
5	CHEN L， LI P S， LIN W S， et al. Observer-based fuzzy control for four-wheel independently driven electric vehicles with active steering systems［J］. International Journal of Fuzzy Systems， 2020， 22（1）： 89-100.
6	陈益新，陈炎冬，华逸人. 汽车四轮转向系统模糊PID控制仿真研究［J］. 江苏科技信息， 2018， 35（27）： 34-37.
	CHEN Y X， CHEN Y D， HUA Y R. Fuzzy PID control simulation study of automobile four-wheel steering system［J］. Jiangsu Science and Technology Information， 2018， 35（27）： 34-37.
7	董铸荣，张欣，胡松华，等. 基于LQR变传动比控制的4WIS电动车转向控制仿真研究［J］. 汽车工程， 2017， 39（1）： 79-85.
	DONG Z R， ZHANG X， HU S H， et al. Simulation study on steering control of 4WIS electric vehicle based on LQR variable gear ratio control［J］. Automotive Engineering， 2017， 39（1）： 79-85.
8	JIANG Z Z， XIAO B X. LQR optimal control research for four-wheel steering forklift based-on state feedback［J］. Journal of Mechanical Science and Technology， 2018， 32（6）： 2789-2801.
9	杜峰，闫光辉，魏朗，等. 主动四轮转向汽车最优控制及闭环操纵性仿真［J］. 汽车工程， 2014， 36（7）： 848-852.
	DU F， YAN G H， WEI L， et al. Optimal control and closed-loop maneuverability simulation of active four-wheel steering vehicle［J］. Automotive Engineering， 2014， 36（7）： 848-852.
10	魏晗. 基于电动轮汽车四轮转向控制策略研究［D］. 镇江：江苏大学， 2022.
	WEI H. Research on four-wheel steering control strategy based on electric wheeled vehicle［D］. Zhenjiang： Jiangsu University， 2022.
11	SANO S， FURUKAWA Y， SHIRAISHI S. Four-wheel steering system with rear wheel steer angle con-trolled as a function of steering wheel angle［C］. SAE Paper 860625.
12	WHITEHEAD J C. Four-wheel steering： maneuverability and high speed stabilization［J］. SAE Transactions， 1988， 97.
13	陈坤. 线控四轮转向汽车操纵稳定性控制研究［D］. 重庆：重庆理工大学， 2022.
	CHEN K. Research on handling stability control of steer-by-wire four-wheel steering vehicle［D］. Chongqing： Chongqing Univer-sity of Technology， 2022.
14	王欲进，谢纯禄，范英，等. 四轮转向系统模糊PID控制研究［J］. 机械设计与制造， 2020（12）： 119-123.
	WANG Y J， XIE C L， FAN Y， et al. Research on fuzzy PID control of four-wheel steering system［J］. Mechanical Design and Manufacturing， 2020（12）： 119-123.
15	范英，徐媛. 四轮转向汽车控制策略研究［J］. 太原科技大学学报， 2022， 43（4）： 335-339， 345.
	FAN Y， XU Y. Research on control strategy of four-wheel steering vehicle［J］. Journal of Taiyuan University of Science and Technology， 2022， 43（4）： 335-339， 345.
16	邢彪. 四轮转向与分布式驱动集成控制研究［D］. 长春：吉林大学， 2022.
	XING B. Research on integrated control of four-wheel steering and distributed drive［D］. Changchun： Jilin University， 2022.
17	党栋辉. 四轮转向车辆转向控制策略研究［D］. 西安：长安大学， 2022.
	DANG D H. Research on steering control strategy of four-wheel steering vehicle［D］. Xi'an： Chang'an University， 2022.
18	张庭芳，张超敏，刘明春，等. 基于改进型滑模控制的4WS汽车控制策略研究［J］. 北京理工大学学报， 2017， 37（11）： 1129-1136.
	ZHANG T F， ZHANG C M， LIU M C， et al. Research on 4WS vehicle control strategy based on improved sliding mode control［J］. Transactions of Beijing Institute of Technology， 2017， 37（11）： 1129-1136.

[1]	ZHOU Wei, ZHANG Cheng-Ning, LI Jun-Qiu. [J]. , 2016, 38(12): 1407 -1414 .
[2]	HAO Han, WANG Si-南, LI Xiao, LIU Zong-Wei, ZHAO Fu-Quan. [J]. , 2017, 39(1): 1 -8 .
[3]	XU Cheng-Shan, JIANG Fa-Chao, SONG Sen-Nan, TIAN Guang-Yu. [J]. , 2017, 39(1): 9 -14 .
[4]	ZENG Bi-Qiang, GAO Ji-Dong, PENG Wei, SUN Zhen-Dong. [J]. , 2016, 38(12): 1446 -1451 .
[5]	CHU Liang, ZHAO Di, LI Wen-Hui. [J]. , 2017, 39(1): 61 -65 .
[6]	QIN Xiao-Hui, WANG Jian-Qiang, XIE Bo-Yuan, HU Man-Jiang, LI Ke-Qiang. [J]. , 2017, 39(1): 73 -78 .
[7]	SHEN Deng-Feng, WANG Chen, YU Hai-Sheng, ZHANG Tong, YI Xian-Ke. [J]. , 2017, 39(1): 15 -22 .
[8]	YU Zhuo-Ping, HAN Wei, XIONG Lu. [J]. , 2017, 39(1): 52 -60 .
[9]	GUO Peng-Cheng, XU Cong-Chang, LIU Zhi-Wen, FANG Xiang-Dong, LI Luo-Xing. [J]. , 2017, 39(2): 138 -144 .
[10]	ZHANG Yong, GU Zheng-Qi, LIU Shui-Chang, MI Cheng-Ji. [J]. , 2017, 39(3): 275 -280 .

Research on Rear Wheel Angle Control Method of 4WS Vehicle

RichHTML

PDF (PC)

Like

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 16

References 18

Related Articles 3

Metrics

Comments

Recommended 10

[1]	Xianguang Gu, Honglin Chen, Luxin Yu, Daisheng Zhang. Integrated Design of Precision Aluminum Castings Parts and Its Application in Lightweight Vehicle Body [J]. Automotive Engineering, 2024, 46(1): 179-186.
[2]	Li Xianjin, Li Zhelong. Research on Aerodynamic Characteristics of Rear Spoiler in an Electric SUV [J]. Automotive Engineering, 2020, 42(9): 1211-1215.
[3]	Jiao Dongfeng, Liu Zhifeng. NVH Performance Analysis and Optimization of Automobile Drive Axl [J]. Automotive Engineering, 2020, 42(2): 240-249.