CAJ | 학술논문

采用前馈+反馈的控制策略，通过对车辆二自由度模型进行计算，建立了车辆转角数学模型，并由本文采取的控制策略导出了前馈比例系数和横摆角速度比例反馈系数；在此基础上，应用 MAT-LAB软件建立了仿真模型，采用斜坡函数作为前轮输入信号。仿真结果表明，后轮保持与前轮同步反向偏转，达到了质心侧偏角为零的控制目标，实现了4个车轮在转向过程中均为纯滚动，满足了阿克曼转向原理。
채용전궤+반궤적공제책략，통과대차량이자유도모형진행계산，건립료차량전각수학모형，병유본문채취적공제책략도출료전궤비례계수화횡파각속도비례반궤계수；재차기출상，응용 MAT-LAB연건건립료방진모형，채용사파함수작위전륜수입신호。방진결과표명，후륜보지여전륜동보반향편전，체도료질심측편각위령적공제목표，실현료4개차륜재전향과정중균위순곤동，만족료아극만전향원리。
In this paper,the feed-forward and feedback control strategy were adopted,and the mathematical model of vehicle angle was established through the calculation of the two-degree-of-freedom vehicle model,feed proportion coefficient and yaw-rate proportional feedback coefficient were calculated based on the control strategy in the paper;and on this basis, a simulation model was established in MATLAB software,the ramp function was as the front wheel input signal.The simu-lation results showed that the rear wheel and front wheel keep synchronous reverse deflection to achieve the aim of sideslip angle zero and realize that the four wheels were rolling in the steering process,which can meet the Ackerman principle.