【摘要】 基于二自由度汽车模型提出了一种新的有关4W S最优控制的方法,即采用了转向盘前馈加上作用于前后轮的侧偏角和横摆角速度反馈的控制方法,讨论这种控制方法的可控性和可观测性,结合实际参数对4W S系统进行仿真分析并讨论参数Kc对系统的影响,最后提出其发展方向。更多还原

【Abstract】 A method of controlling four-wheel steering using optimal control theory based on 2DOF are put forward,the control method is input the steering wheel angle and feed back the sideslip angle and yaw velocity to the front and rear wheel angles.The controllability and observability of this method are discussed.The four-wheel steering system with practical parameter are simulated and the effect of parameter K_c on the system are also discussed.The developing directions of 4WS are put forwad in the end.更多还原