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建立了一种基于横向位移偏差控制的4WS汽车闭环控制系统,控制目标是减小横向位移偏差,提高轨迹跟踪性能和操纵稳定性。系统中的驾驶员模型是一个基于横向位移偏差控制,包括预瞄、积分和高频补偿的多路闭环控制系统,后轮转角采用前馈和反馈控制结合的方法。文中对两种汽车运行轨迹进行了仿真研究分析,结果表明4WS汽车比2WS汽车有更好的横向位移跟踪性能和操纵稳定性性能。
A 4WS automotive closed-loop control system based on lateral displacement deviation control is established. The control objective is to reduce the lateral displacement deviation and improve the tracking performance and steering stability. The driver model in the system is a multi-channel closed-loop control system based on lateral displacement deviation control, including preview, integral and high-frequency compensation. The combination of feedforward and feedback control is used for the rear wheel corner. In this paper, two kinds of vehicle running trajectories are simulated and analyzed. The results show that 4WS vehicles have better lateral displacement tracking performance and steering stability than 2WS vehicles.