建立包括转向系统的整车四自由度模型,分析摆振发生时转向系统刚度、阻尼对前轮摆振角、车辆横摆角速度、侧向加速度和侧倾角加速度的影响.为减小摆振对车辆稳定性的影响,应用最优控制对后轮进行反馈控制.结果表明:当摆振发生后,车辆侧向加速度和侧倾角加速度会产生较大波动,横摆角速度和侧倾角影响不大;转向系统阻尼对摆振的影响较大.采用对后轮的反馈控制可有效改善摆振发生时的车辆横向稳定性.%A 4-DOF vehicle model including front wheels steer system was established for stability analysis. The influences of the steer system stiffness and damping on shimmy angle of the front wheels, yaw velocity, lateral acceleration and roll angular acceleration of the vehicle were analyzed. Based on the vehicle model, the rear wheels feedback control was carried out using LQR (linear quadratic regulator) to reduce the influence of the shimmy on the vehicle stability. The results show that the lateral acceleration and roll angular acceleration have large fluctuation, and the yaw velocity and roll angle do not change a lot when the shimmy happens. The steer system damping has a great influence on shimmy and the rear wheels feedback control can effectively improve the vehicle lateral stability.
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