三轴电液转向系统硬件在环仿真

为了分析三轴电液主动转向控制算法对转向性能的影响，针对质心零侧偏角调度控制策略，利用开发的三轴电液主动转向实验平台，进行了三轴电液主动转向硬件在环仿真实验.根据车轮的转向响应时间、控制精度和车辆转向特性的主要参数的实验结果，对控制算法的控制效果进行了评价.在环实验结果表明:由于液压系统的迟滞特性影响，车轮实际转角比理论转角小，转弯半径、横摆角速度和侧向加速度都比理论值略小.

Hardware-in-loop Simulation of Three-axle Electro-hydraulic Steering System

In order to analyze the effect of three-axle electro-hydraulic active steering control algorithm on the steering performance of three-axle electro-hydraulic active steering vehicle, a hardware-in-loop simulation of three-axis electro-hydraulic active steering vehicle was carried out for the ceutroidal zero sideslip angle control strategy using a test rig. According to the results of the steering response time, control accuracy and other main steering performance parameters of vehicle, the control effects of the control algorithm were evalua- ted. Test results showed that the actual steering angle was smaller than the theoretical angle because of the effect of the hysteresis of the steering hydraulic system. The actual values of steering radius, yaw rate and lat- eral acceleration were all slightly smaller than their theoretical values.