一种车辆后轮质心侧偏角为零的控制算法研究

摘要

采用前馈+反馈的控制策略，通过对车辆二自由度模型进行计算，建立了车辆转角数学模型，并由本文采取的控制策略导出了前馈比例系数和横摆角速度比例反馈系数；在此基础上，应用 MAT-LAB软件建立了仿真模型，采用斜坡函数作为前轮输入信号。仿真结果表明，后轮保持与前轮同步反向偏转，达到了质心侧偏角为零的控制目标，实现了4个车轮在转向过程中均为纯滚动，满足了阿克曼转向原理。%In this paper,the feed-forward and feedback control strategy were adopted,and the mathematical model of vehicle angle was established through the calculation of the two-degree-of-freedom vehicle model,feed proportion coefficient and yaw-rate proportional feedback coefficient were calculated based on the control strategy in the paper;and on this basis, a simulation model was established in MATLAB software,the ramp function was as the front wheel input signal.The simu-lation results showed that the rear wheel and front wheel keep synchronous reverse deflection to achieve the aim of sideslip angle zero and realize that the four wheels were rolling in the steering process,which can meet the Ackerman principle.