对于四轮转向汽车,基于2自由度线性车辆模型设计了用于路径自动跟踪的最优控制算法.在Matlab/Simulink中以2自由度非线性车辆模型作为被控对象对控制算法进行仿真评价,仿真模型中对最优控制算法所确定的前、后轮转角分别施加一个惯性环节.双移线和蛇行工况下的仿真结果表明,路径和横摆角速度跟踪效果好,质心侧偏角得到有效抑制.该最优控制算法实现了四轮转向车辆的低速反相转向和高速同相转向.%An optimal control algorithm is designed for automatic path-following of vehicles with four-wheel - steering based on a two-degree-of-freedom (2-DOF) linear vehicle model. The control algorithm is evaluated by simulation in Matlab/Simulink using a 2-DOF nonlinear vehicle model as the control objective. An inertial element is added for each of the front and rear steering angles determined by the optimal control algorithm of the simulation model. Simulation results under double lane change and slalom maneuvers show that the path and yaw rate angular velocity are well traced and the sideslip angle at the center of mass is effectively suppressed. Anti-phase steering at low speeds and in-phase steering at high speeds for 4WS equipped vehicles are automatically realized by the optimal control algorithm.
展开▼
