某四轴车辆全轮转向最优补偿控制策略研究

Aiming at the problems such as poor stability of traditional multi-axle commercial vehicles, an optimal control strategy for all-wheel steering of multi-axle vehicles is proposed. The wheel angle proportional feedforward control algorithm and the yaw rate feedback control algorithm are studied, and an optimal compensation control algorithm of wheel angle proportional feedforward + yaw rate feedback is proposed. A four-axle all-wheel steering vehicle model is established, and the designed control strategy is verified through co-simulation. The results show that the all-wheel steering optimal compensation control strategy can keep the sideslip angle of the center of mass approaching zero at all vehicle speeds, reduce the turning radius by 50% when the vehicle is at a low speed, effectively track the ideal value of the yaw rate when the vehicle is at a high speed, and significantly improve the steering performance and handling stability of multi-axle vehicles.

针对传统多轴商用车稳定性差等问题，提出了一种多轴车辆全轮转向最优控制策略。 研究了.车轮转角比例前馈控制算法和横摆角速度反馈控制算法,提出了车轮转角比例前馈+横摆角速度反馈.的最优补偿控制算法。 建立四轴全轮转向车辆模型， 通过联合仿真验证了所设计的控制策略。结果.表明： 全轮转向最优补偿控制策略能够在所有车速下保持质心侧偏角趋近于零， 使汽车低速时转弯.半径减小 50%， 高速时横摆角速度有效跟踪理想值，多轴车辆的转向性能和操纵稳定性显著改善。