【摘要】 为提高四轮转向车辆在低速时的机动性，建立了包括侧向运动、横摆运动的整车2自由度四轮转向车辆动力学模型，总结归纳了四轮转向车辆后轮转角控制方法，搭建了CarSim和Matlab/Simulink联合仿真平台，使CarSim中建立的整车模型的实际转向状态接近预设的2自由度理想转向状态，通过设置包括前轮角阶跃输入在内的3种工况进行了不同控制方法的仿真对比分析。结果表明：文中所提到的几种控制策略均能改善四轮转向车辆在低速时的机动性，使车辆具有更高的机动运动能力，为找到一种四轮转向车辆后轮转角最优控制策略奠定了基础。更多还原

【Abstract】 In order to improve the maneuverability of four-wheel steering vehicles at low speeds, a dynamic model of two-degree-of-freedom four-wheel steering vehicle including lateral movement and sideways movement is established and the rear wheel angle control method of four-wheel steering vehicle is summarized and summarized.Then a joint simulation platform of CarSim and Matlab/Simulink is built to make the actual steering state of the vehicle model established in CarSim close to the preset ideal steering state of two degrees of freedom. Finally, the simulation comparative analysis of several control methods is carried out by setting three working conditions, including the front wheel angle step input. The results show that the control strategies mentioned in this paper can improve the maneuverability of four-wheel steering vehicles at low speeds, making the vehicles have higher maneuvering and motion ability, which lays a foundation for finding an optimal control strategy for the rear wheel angle of four-wheel steering vehicles.更多还原