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線控轉(zhuǎn)向系統(tǒng)的全狀態(tài)反饋控制策略
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    摘要:

    研究了線控轉(zhuǎn)向系統(tǒng)的車輛全狀態(tài)（質(zhì)心側(cè)偏角和橫擺角速度）反饋控制策略, 根據(jù)虛擬前輪側(cè)偏剛度的概念得到橫擺角速度和質(zhì)心側(cè)偏角的反饋系數(shù)，研究了虛擬前輪側(cè)偏剛度系數(shù)對極點(diǎn)、頻率特性等的影響。仿真表明，根據(jù)車速選擇合適的虛擬側(cè)偏剛度系數(shù)，可改變汽車的轉(zhuǎn)向特性，即低速時，該系數(shù)為正，過度轉(zhuǎn)向程度增大，提高轉(zhuǎn)向靈敏性；高速時，該系數(shù)為負(fù)，不足轉(zhuǎn)向程度增大，提高轉(zhuǎn)向穩(wěn)定性。因此全狀態(tài)反饋控制策略可提高車輛的操縱穩(wěn)定性。

    Abstract:

    Full states (i.e. slip angle and yaw rate) feedback control strategy was researched and feedback coefficients of slip angle and yaw rate were acquired according to the concepts of virtual front tire cornering stiffness coefficient. Slip angle was estimated with Kalman filter. Effects of virtual front tire cornering stiffness coefficient changing coefficient on poles and frequency characteristics have been researched. Simulations showed that virtual front tire cornering stiffness coefficient changing coefficients could be chosen based on velocities to change steering characteristics: positive coefficient at low velocities leading to oversteer and steering agile; while negative coefficient at high velocities leading to understeer and steering stable. So presented control strategy improved handling and stabilities.

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施國標(biāo),于蕾艷,林逸.線控轉(zhuǎn)向系統(tǒng)的全狀態(tài)反饋控制策略[J].農(nóng)業(yè)機(jī)械學(xué)報,2008,39(2):30-32.[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(2):30-32.

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