Control Strategy and Stability of Four-wheel Steering Automobiles
A control strategy of joint lateral control of four-wheel steering and longitudinal control of the braking force(4WS-DYC)was proposed.A two-degree-of-freedom vehicle dynamics model was estab-lished to calculate the centroid deflection angle and yaw angular velocity of the vehicle at a steady state.Based on the optimal control theory,a linear quadratic regulator(LQR)controller of four-wheel steering and a longitudinal controller of hierarchical braking force were established.Finally,the effect of the control strategy under the condition of double line shift was verified.The experimental results show that the 4WS-DYC control strategy is effective.Compared with the CarSim model,the centroid deflection angle is reduced by 65%at low speed,and the yaw angular velocity is reduced by 34%at high speed.
four-wheel steeringLQR controllongitudinal control of braking forcejoint control
国家科技期刊平台
NSTL
万方数据
