四轮转向汽车操纵稳定性分析

建立了二自由度四轮转向汽车模型的动力学方程,对其进行系统的理论分析得出了四轮转向汽车的质心侧偏角、横摆角速度、侧向加速度与前轮转角的传递函数.基于某四轮转向样车,对以零质心侧偏角为控制目标的前后轮转角比例四轮转向车辆的操纵动力学进行了仿真分析,将仿真结果与前轮转向车辆进行对比,阐明了四轮转向车辆的性能优势.研究结果可为评价四轮转向车辆的设计提供理论依据.

Analysis of Handling Stability for a 4WS Vehicle

A 2 DOF Four-wheel steering （4WS） dynamic model was built and through theoretical analysis, its transfer function was obtained to study the responses of roll angle, yaw velocity and lateral acceleration of the vehicle to the front wheel steering angle. Based on a 4WS prototype vehicle, simulation on its handling stability was executed by using a proportional algorithm to control the relations of steering angles in all 4 wheels at the aim of a zero roll angle. Comparing with the simulation results of a 2WS vehicle, the advantage of a 4WS vehicle in performance was clarified, and the research may be useful for the further design evaluation.