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从轮胎的侧偏性、悬架结构的受力特性等方面着手,建立了主动四轮转向车辆(4WS)的动力学模型,结合单点预瞄最优曲率驾驶员模型及道路预期轨迹模型,建立了考虑四轮转向车辆动态响应的人-车-路闭环操纵稳定性仿真模型,在MATLAB环境中对所建立的模型进行试验仿真。结果表明在高速状态下4WS车辆比2WS车辆有更好的横向位移跟踪性能和操纵稳定性,此外,选择复杂闭合曲线道路进行仿真比一般简单的线路可更客观地反映车辆操纵动力学特性和控制效果。
Based on the tire side-force and the suspension force characteristics, the dynamics model of active four-wheel-drive vehicle (4WS) is established. Combining with the single-point preview optimal curvature driver model and the road expected trajectory model, The simulation model of human-vehicle-road closed-loop maneuvering stability considering the dynamic response of four-wheel steering vehicle was established, and the simulation model was established in MATLAB environment. The results show that the 4WS vehicle has better lateral displacement tracking performance and steering stability than the 2WS vehicle at high speed. In addition, the simulation of the complex closed curve road can more objectively reflect the vehicle handling dynamics and control effect.