| 基于MATLAB/Simulink的四轮转向车辆的操纵稳定性研究 |
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| 引用本文： | 朱振兴,孙跃东.基于MATLAB/Simulink的四轮转向车辆的操纵稳定性研究[J].农业装备与车辆工程,2020,58(4):42-45. |
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| 作者姓名： | 朱振兴 孙跃东 |
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| 作者单位： | 200093 上海市 上海理工大学 机械工程学院;200093 上海市 上海理工大学 机械工程学院 |
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| 摘 要： | 为了研究四轮转向汽车的操纵稳定性,只考虑汽车的横摆运动和侧向运动,将汽车简化为线性二自由度模型。采用前后轮转角成比例的控制策略,对四轮转向汽车的控制系统进行分析,推导出系统状态空间方程,并在MATLAB/Simulink里建立该控制策略下的4WS(Four-wheel Steering)模型,对汽车的操纵稳定性进行仿真分析,将仿真结果与前轮转向进行对比。仿真结果表明:四轮转向汽车能有效地提高低速时的机动性,减小转弯半径,同时提高车辆高速时的操纵稳定性。
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| 关 键 词： | 四轮转向 横摆角速度 侧向加速度 质心侧偏角 操纵稳定性 |
Study on Handling and Stability of Four-wheel Steering Vehicle Based on MATLAB/Simulink |
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| Zhu Zhenxing,Sun Yuedong.Study on Handling and Stability of Four-wheel Steering Vehicle Based on MATLAB/Simulink[J].Agricultural Equipment & Vehicle Engineering,2020,58(4):42-45. |
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| Authors: | Zhu Zhenxing Sun Yuedong |
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| Institution: | (School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China) |
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| Abstract: | In order to analyze the handling and stability of four-wheel steering vehicle and just consider the yaw motion and lateral motion of the vehicle,simplify the vehicle as a linear two-degree-of-freedom model.Based on the control strategy of the front and rear wheels rotating in proportion,the system state space equations are derived.Based on MATLAB/Simulink,the four-wheel steering vehicle model under this control strategy is established to simulate the handling and stability of the vehicle,and the simulation results are compared with the front-wheel steering vehicle.The results show that the four-wheel steering vehicle can effectively improve the maneuverability at low speed,reduce the turning radius,and improve the handling and stability of the vehicle at high speed. |
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| Keywords: | four-wheel-steering yaw velocity lateral acceleration side slip angle handling and stability |
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