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针对三轴车辆全轮转向理想模型跟踪控制器的设计问题,基于提出的车辆转向理想模型设计了2种理想模型跟踪控制器,以实现对车辆理想质心侧偏角和横摆角速度的跟踪。基于建立的整车数学模型,分别在线性域和非线性域,仿真分析了2种理想模型跟踪控制器的控制效果。结果表明:最优控制仅在线性域有较好的跟踪效果,而模糊控制在线性域和非线性域的跟踪效果都较好。
According to the design problem of all-wheel steer ideal model tracking controller of three-axle vehicle, two ideal model tracking controllers are designed based on the ideal vehicle steering model to track the ideal center-of-mass roll angle and yaw rate. Based on the established vehicle mathematical model, the control effects of two ideal model tracking controllers are simulated and analyzed in the linear domain and the nonlinear domain respectively. The results show that the optimal control has better tracking performance only in the linear domain, while the fuzzy control has better tracking performance in the linear domain and the non-linear domain.