【摘要】 以线控转向系统汽车为研究对象，提出了一种利用局部加权回归和样条插值法优化理想传动比结合线性二次型调节器(linear quadratic regulator, LQR)控制算法的线控转向控制策略，实现了前轮主动转向控制。通过Simulink与Carsim的联合仿真，对线控转向系统进行分析，以验证其工作稳定性。通过固定横摆角速度增益和侧向加速度增益，制定了理想的角传动比控制策略，同时利用局部加权回归和样条插值法对设计得到的角传动比曲线进行平滑处理，确保了传动比曲线的连续性和稳定性。在此基础上，设计了LQR控制器，用于计算附加转角，以补偿车辆在行驶过程中的不稳定性。仿真结果表明：所提出的控制策略能够有效提高车辆的操控性和稳定性，并且在速度60 km/h时，横摆角速度和质心侧偏角的峰值分别下降35.7%和36.3%,为进一步提升车辆在各种复杂路况下的适应能力奠定了坚实的基础。更多还原

【Abstract】 This paper proposes a steering by wire control strategy, which employs local weighted regression and spline interpolation to optimize the ideal transmission ratio and linear quadratic regulator(linear quadratic regulator, LQR) control algorithm, and realize the front wheel active steering control. Through Simulink and Carsim co-simulation, the steering-by-wire system is analyzed to verify its working stability. By fixing the yaw velocity gain and lateral acceleration gain, the ideal angular ratio control strategy is formulated. Meanwhile, the local weighted regression and spline interpolation are employed to smooth the designed angular ratio curve, ensuring the continuity and stability of the curve. On this basis, the LQR controller is designed to calculate the additional angle to compensate the instability of the vehicle during driving. The simulation results show the proposed control strategy effectively improves the maneuverability and stability of the vehicle. At a speed of 60 km/h, the peak yaw speed and centroid side deflection angle decrease by 35.7% and 36.3% respectively, further improving the adaptability of the vehicle under various complex road conditions.更多还原