| 三轴汽车前后轮转向时的侧向动力学控制 |
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| 引用本文： | 管西强,屈求真,张建武.三轴汽车前后轮转向时的侧向动力学控制[J].机械科学与技术(西安),2002,21(1):69-71. |
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| 作者姓名： | 管西强 屈求真 张建武 |
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| 作者单位： | 上海交通大学机械学院汽车工程研究所 上海210030
(管西强，屈求真)，上海交通大学机械学院汽车工程研究所 上海210030(张建武) |
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| 摘 要： | 基于三轴汽车前后轮转向时的闭环控制确定性模型 ,探讨了该汽车在典型的组合路面行驶过程中后轮的最优转向控制规律 ,通过引入状态反馈 ,改善了整车的转向特性。将实际汽车的前后轮胎侧偏刚度及外界干扰视为有界的不确定性参数 ,采用模型跟踪变结构控制方法 ,使得不确定的实际汽车模型能够很好地跟踪确定性的最优理论模型。仿真结果表明该方法的可行性 ,控制系统能够有效地克服参数摄动及外界干扰对系统稳定性的影响
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| 关 键 词： | 三轴汽车 模型跟踪控制 变结构控制 不确定性模型 |
| 文章编号： | 1003-8728(2002)01-0069-03 |
| 修稿时间： | 2001年1月12日 |
Adaptive Model-Following Control of Four-Wheel Steering Vehicle |
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| GUAN Xi qiang,QU Qiu zhen,ZHANG Jian wu.Adaptive Model-Following Control of Four-Wheel Steering Vehicle[J].Mechanical Science and Technology,2002,21(1):69-71. |
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| Authors: | GUAN Xi qiang QU Qiu zhen ZHANG Jian wu |
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| Abstract: | The optimal steering control laws of rear wheels for three axle vehicle on complex typical path are studied based on the certain vehicle model of closed loop control. The steering responses of vehicle are improved through using steering of state feedback. The actual vehicle model is considered as uncertain system. The cornering stiffness of front and rear wheels and outer disturbance vary over a limited range. The model following variable structure control method is used for controlling front and rear wheels steering of the actual vehicle, so that the steering characteristics of uncertain vehicle model can follow the characteristics of reference model. Simulation results have demonstrated that the control system can overcome the drawbacks of parameter perturbations and outer disturbance. |
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| Keywords: | Three axle vehicle Model following control Variable structure control Uncertain model |
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