【摘要】 为降低对多轴转向车辆的控制难度,在考虑前轴机械转向对车辆转向性能的影响的基础上,对多轴转向车辆动力学模型进行了改进,将前轴车轮转角隐含到控制变量中;在改进的动力学模型的基础上,利用模型跟踪控制理论结合极点配置方法对多轴转向车辆进行了分析,得到车辆在不同车速情况下的横摆角速度和质心侧偏角的瞬态响应和频域特性。分析结果表明,利用模型跟踪方法对车辆进行控制,能获得较理想的跟踪效果,车辆在高速时瞬态响应没有超调量,响应时间缩短,提高了车辆在高速时的稳定性。更多还原

【Abstract】 The dynamic model of multi-axle steering vehicle is improved by considering the impact of the front-axle mechanical steering on the vehicle steering performance and implying the front-axle wheel angle in control variables to reduce the difficulty of vehicle control.On the basis of modified dynamic model,the multi-axle vehicle is analyzed by combining model-following method with pole assignment process.The transient response and frequency domain characteristics of the yaw angle velocity and sideslip angle at different speeds are obtained.The results indicate that,using model-following method to control vehicle can obtain desired tracking effects.At high speed,the transient response has no overshoot,the response time is shortened,and the stability of vehicle is improved.更多还原