CAJ | 학술논문

针对四轮转向(4WS)车辆的操纵稳定性问题，以线性二自由度车辆模型为基础，从时域和频域两个角度分析了如何通过控制后轮转角相位与角度来提高4WS 车辆的低速机动性和高速稳定性。用0.4g 的侧向加速度来界定四轮转向系统的有效工作区域，推导出后轮转角的合理范围。对比分析了两种典型控制算法的稳态特性和瞬态特性，稳态特性不依控制算法的改变而改变，控制算法二则明显提高了4WS 车辆的瞬态响应品质。研究结果为4WS 系统的开发提供了理论依据。
침대사륜전향(4WS)차량적조종은정성문제，이선성이자유도차량모형위기출，종시역화빈역량개각도분석료여하통과공제후륜전각상위여각도래제고4WS 차량적저속궤동성화고속은정성。용0.4g 적측향가속도래계정사륜전향계통적유효공작구역，추도출후륜전각적합리범위。대비분석료량충전형공제산법적은태특성화순태특성，은태특성불의공제산법적개변이개변，공제산법이칙명현제고료4WS 차량적순태향응품질。연구결과위4WS 계통적개발제공료이론의거。
Based on the 2DOF linear bicycle model,the handling and stability of 4WS vehicle was studied herein.The rear wheel control algorithm was discussed in time domain and frequency domain in order to improve the maneuverability at low speed and stability at high speed.By using the lateral acceleration as 0.4g to define the effective working area for 4WS,the range for rear steering angle was derived.The steady-state and transient-state of two typical control algorithms were compared and an-alyzed.The control algorithm does not affect the steady-state characteristics of the vehicle,but can improve the transient response.This provides the theoretical basis for the development of the 4WS system.