基于阿克曼定理的四轮独立转向模糊控制算法研究

基于阿克曼转向定理,研究电动汽车四轮独立转向系统。利用轮胎"魔术公式"建立二自由度非线性模型,并提出一种基于模糊策略的方法对其质心侧偏角进行控制。整车系统仿真的输入为左前轮车轮转角,其余3个车轮转角由模糊控制决定。质心侧偏角作为模糊控制器的输入,满足阿克曼定理的3个车轮转角作为其输出,由此实现四轮独立转向的控制。仿真研究结果表明所提出算法的有效性。

Fuzzy Control Method Based on Ackermann Steering Theorem for Four wheel Independent Steering

Four wheel independent steering system for electric vehicles is studied based on Ackermann steering theorem.A 2 DOF nonlinear steering model is established based on the tire“magic formula”model.And a new method based on fuzzy control strategy is proposed for its sideslip angle control.The left front wheel angle is input to the simulation of vehicle System,and the remaining angles of three wheels are decided by the fuzzy control.The sideslip angle is input to the fuzzy controller and the remaining angles of three wheels which meet Ackerman theorem are output to con-trol four wheel independent steering.And its con-trol effect is compared with the traditional front wheel steering and the traditional four wheel pro-portional steering.Simulation results indicate that the new algorithm in this paper is effective .