| 汽车四轮转向系统的非线性控制 |
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| 引用本文： | 王洪礼,张锋,乔宇. 汽车四轮转向系统的非线性控制[J]. 机械强度, 2003, 25(2): 130-133 |
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| 作者姓名： | 王洪礼 张锋 乔宇 |
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| 作者单位： | 天津大学,机械工程学院,天津,300072;天津大学,机械工程学院,天津,300072;天津大学,机械工程学院,天津,300072 |
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| 基金项目： | 国家自然科学基金资助项目 (50 0 750 60 )~~ |
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| 摘 要： | 基于轮胎的立方非线性，结合汽车四轮转向的力学特性，建立汽车四轮转向的非线性模型，并考虑了非线性干扰和模型误差等未知项的影响，运用鲁棒控制理论的分析方法进行非线性控制设计，得到预期的控制效果，最后进行仿真验证。
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| 关 键 词： | 四轮转向 鲁棒控制 鲁棒度 非线性 |
| 修稿时间： | 2002-05-02 |
NONLINEAR CONTROL OF VEHICLE 4WS SYSTEM |
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| WANG Hongli ZHANG Feng QIAO Yu. NONLINEAR CONTROL OF VEHICLE 4WS SYSTEM[J]. Journal of Mechanical Strength, 2003, 25(2): 130-133 |
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| Authors: | WANG Hongli ZHANG Feng QIAO Yu |
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| Abstract: | Based on the cubic nonlinear of tire and the mechanical characteristic of 4WS, the nonlinear vehicle 4WS model was established. And the effect of the unknown items, such as nonlinear disturbance and model error were taken into account. At the same time the nonlinear controlling design with the method of robust control theory was made, the expected controlling effect can be obtained. At last the simulation validation was carried out. |
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| Keywords: | 4WS Robust control Robust degree Nonlinear |
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