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针对基于线控转向技术的四轮主动转向汽车,利用滑模变结构控制策略,以提高车辆在紧急避障和危险工况下运行的安全性。将实际车辆的前、后轮侧偏刚度及外部干扰视为有界的不确定性参数,利用确定性线性车辆模型作为理想跟踪目标,进行车辆主动转向的变结构控制器设计。人-车-路闭环系统仿真结果表明:当轮胎侧偏刚度摄动或有外部侧风干扰时,变结构控制的四轮主动转向汽车实现了转向零质心侧偏角和跟踪期望横摆率的控制目标,其双移线仿真最终路径偏差分别为0m和0.05m,被控车辆系统表现出了良好的路径跟踪性和在不确定影响下的鲁棒性,车辆的操纵稳定性与主动安全性得到了提高。
Aiming at the four-wheel active steering vehicle based on the steer-by-wire steering technology, a sliding mode variable structure control strategy is adopted to improve the safety of the vehicle in emergency avoidance and dangerous working conditions. The front and rear wheel side stiffness and external disturbance of the actual vehicle are regarded as the bounded uncertainty parameters. The variable structure controller design of active steering of the vehicle is designed by using the deterministic linear vehicle model as the ideal tracking target. The simulation results of the closed-loop system of people-vehicle-road show that the variable structure control four-wheel active steering vehicle achieves the steering center of zero centripetal yaw and the tracking of the desired yaw rate when the tire lateral stiffness perturbation or the external side wind disturbance. Control target, the final path deviation of the two-lane simulation is 0m and 0.05m, respectively. The controlled vehicle system shows good path-tracking and robustness under the influence of uncertainties. The handling stability and active safety of the vehicle Has been improved.