The invention discloses a rear wheel active steering control method, and relates to a wheel steering control method. Basic vehicle road parameters are obtained, a reference model is derived through a two-degree-of-freedom model built based on a nonlinear tire lateral force model, and the reference model comprises a front wheel slip angle calculation module, a front wheel lateral force calculation module, an expected yaw rate dynamic and lateral acceleration calculation module, an expected rear wheel lateral force calculation module and an integrator 1; comprising a lateral tire force model, a PI controller, an integrator 2 and a rear wheel steering angle calculation module, a reference model and a rear wheel steering angle solver are combined into a rear wheel active steering controller to be applied to an automobile system, and a rear wheel steering angle is output by taking a front wheel steering angle and a longitudinal vehicle speed as input. The yaw rate or the side slip angle does not need to be used as the feedback quantity, only the front wheel steering angle and the longitudinal vehicle speed need to be collected, and the performance under the limiting working condition that the tire force approaches to saturation can be guaranteed.
一种后轮主动转向的控制方法,涉及一种车轮转向控制方法。获取基本车路参数,由基于非线性轮胎侧向力模型搭建的二自由度模型推导参考模型,包括前轮侧偏角计算模块、前轮侧向力计算模块、期望横摆率动态、侧向加速度计算模块、期望后轮侧向力计算模块和积分器1,设计后轮转向角解算器,包括侧向轮胎力模型、PI控制器、积分器2和后轮转向角计算模块,将参考模型和后轮转向角解算器组合成后轮主动转向控制器应用于汽车系统,以前轮转向角和纵向车速为输入,输出后轮转向角。无需横摆率或质心侧偏角做反馈量,仅需要采集前轮转向角和纵向车速,可以保证在轮胎力趋近饱和的极限工况下的性能。
Control method for active steering of rear wheels
一种后轮主动转向的控制方法
2023-07-04
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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