A method to control, while driving along a curve, a road vehicle (1) with a variable stiffness and with rear steering wheels (3). The method comprises the steps of: determining an actual attitude angle (beta) of the road vehicle (1); establishing a desired attitude angle (beta); determining an actual yaw rate (d[psi]/dt) of the road vehicle (1); establishing a desired yaw rate (d[psi]/dt); and changing, in a simultaneous and coordinated manner, the steering angle (alpha) of the rear wheels (3) and the distribution of the stiffness of the connection of the four wheels (2, 3) to the frame (12) depending on a difference ([epsilon]delta) between the actual attitude angle (beta) and the desired attitude angle (beta) and depending on a difference (epsilon[psi]) between the actual yaw rate (d[psi]/dt) and the desired yaw rate (d[psi]/dt).
一种在沿弯道行驶时控制具有可变刚度和转向式后轮(3)的道路车辆(1)的方法。该方法包括以下步骤:确定道路车辆(1)的实际姿态角(β);设定期望姿态角(βTGT);确定道路车辆(1)的实际横摆角速度(dψ/dt);设定期望横摆角速度(dψ/dtTGT);以及根据实际姿态角(β)与期望姿态角(βTGT)之间的差值(εβ)以及实际横摆角速度(dψ/dt)与期望横摆角速度(dψ/dtTGT)之间的差值(εψ)以同时且协调的方式改变后轮(3)的转向角(α)和四个车轮(2、3)与车架(12)的连接部的刚度分布。
METHOD TO CONTROL, WHILE DRIVING ALONG A CURVE, A ROAD VEHICLE WITH A VARIABLE STIFFNESS AND WITH REAR STEERING WHEELS
在沿弯道行驶时控制具有可变刚度和转向式后轮的道路车辆的方法
2021-08-31
Patent
Electronic Resource
Chinese
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