【摘要】 为了改善汽车行驶过程中的操纵稳定性，提出四轮转向(four wheel steering,4WS)联合控制方法。采用零质心侧偏角前馈控制器和横摆角速度模糊PID反馈控制器，对某4WS汽车后轮进行前馈-反馈联合控制。利用CarSim与MATLAB/Simulink分别搭建了4WS整车模型和控制算法模型，并在角阶跃工况下对4WS汽车进行了联合仿真实验，分析质心侧偏角和横摆角速度变化。结果表明：与前轮转向和零质心侧偏角前馈控制方式相比，4WS联合控制策略能明显提高不同车速下的汽车操纵稳定性，综合控制效果较好。更多还原

【Abstract】 In order to improve vehicle handling stability during driving, a joint control method was proposed for 4WS vehicles. The feedforward-feedback controller of zero centroid sideslip angle and yaw rate fuzzy PID feedback controller were used to control the rear wheels of a 4WS vehicle. The 4WS vehicle model and control algorithm model were established by using CarSim software and MATLAB/Simulink respectively. And the joint simulation experiment of 4WS vehicle was carried out under angular step condition,the changes of centroid sideslip angle and yaw rate were analyzed. The simulation results show that compared with the front wheel steering and zero centroid sideslip angle, the joint control strategy of 4WS can significantly improve the handling stability of the car. And the comprehensive control effect of the joint control strategy of 4WS is better.更多还原