四轮转向车辆的直接横摆力矩控制

将横摆力矩控制(DYC)与四轮转向(4WS)系统相结合,建立侧偏角和横摆角速度具有最佳输出响应的车辆理想模型.采用前馈和反馈控制相结合跟踪理想模型的控制策略,设计出最优控制器,并分别在低速和高速下进行仿真分析.结果表明:四轮转向模型与横摆力矩控制相结合,采用跟踪理想模型的控制策略能够有效地同时控制汽车转向侧偏角和横摆角速度,得到较好的瞬态及稳态响应,有效地减轻驾驶员操纵负担,提高了车辆操纵稳定性.尤其在高速行驶时,仍能获得较好的输出响应,利于提高行车安全性.

Direct yaw-moment control on four-wheel steering vehicles

A desirable vehicle model with the best performance of side slip angle and yaw rate is established through connecting direct yaw moment control (DYC) with f our wheel steering (4WS) system. The strategy of both the forward feed and bac k feed of tracking the desirable model is adopted and an optimal controller is designed, and it is simulated at low and high speeds separately. The results sho w that combining 4WS with DYC and, using the strategy of tracking the desirable model can effectively control the side slip angle and yaw rate synchronously, achieve good transient and steady response, lighten the burden of the driver and improve handling stability of vehicles. Especially a good response can still b e achieved at a high speed, which is good for improving the security of driving.