三轴全轮转向车辆水平集成控制研究

为提高三轴全轮转向车辆高速操纵稳定性，提出了全轮转向和横摆力矩的水平集成控制方法，分别设计上层协调控制器以及下层执行控制器。基于建立的18自由度车辆模型、轮胎载荷分配模型和Dugoff非线性轮胎模型，对车辆低附着路面转向和紧急避障转向工况进行了仿真研究。仿真结果表明：设计的水平集成控制器可以较为显著地提高车辆的操纵稳定性和主动安全性，能够实现对理想模型的良好跟踪。

Study of Integrated Control of All-wheel-steering Three-axil Vehicle

In order to improve the handling stability of three-axil vehicle at high speed, a control method, that integrates all-wheel steering system and direct yaw moment control system, is proposed, which includes the upper coordinated controller and the lower controller. Based on the 18-DOF vehicle model, the load distribution model and the Dugoff nonlinear tire model, the steering on low friction road and the obstacle avoidance steering are simulated. The simulated results show that the integrated control method can improve the handling stability and active safety of vehicle at high speed.