The invention discloses a stable steering control method for a four-wheel independent steer-by-wire vehicle, which comprises the following steps of: 1, establishing a nonlinear monorail vehicle dynamics model, and determining a front wheel steering angle by a steering instruction input by a driver; 2, based on the Ackerman steering principle, a four-wheel independent steer-by-wire vehicle dynamics model is established, the instantaneous center of the vehicle speed is jointly determined by the respective turning angles of the four wheels, and the respective turning angles of the four wheels of the vehicle are determined in combination with the nonlinear monorail vehicle dynamics model and the front wheel steering angle input by a driver. 3, due to the fact that lateral deformation exists in tires when the automobile turns at a high speed, an SMC controller is introduced, the respective turning angles, meeting the Ackerman steering principle, of the four wheels obtained in the step 2 are corrected, and the respective final turning angles of the four wheels are obtained. By using the method, the precision, the stability and the real-time performance of transverse stability control during high-speed turning of the four-wheel independent steering vehicle can be improved, and finally the operation stability of the vehicle is improved.

    本发明公开了一种四轮独立线控转向车辆的稳定转向控制方法,包括以下步骤:步骤一、建立非线性单轨车辆动力学模型作,前轮转角由驾驶员输入的转向指令确定。步骤二、基于阿克曼转向原理,建立四轮独立线控转向车辆动力学模型,车辆速度瞬心由四轮各自转角共同确定,结合非线性单轨车辆动力学模型及驾驶员输入的前轮转向角,确定车辆四个车轮各自的转角。步骤三、由于汽车在高速转弯时,轮胎存在侧向变形,引入SMC控制器,对步骤二中得出的符合阿克曼转向原理的四个车轮各自的转角进行修正,获得四个车轮各自的最终转角。使用本发明能够提高四轮独立转向车辆高速转弯时的横向稳定性控制的精度、稳定性、实时性,最终提高车辆的操纵稳定性。


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    Title :

    Stable steering control method for four-wheel independent steer-by-wire vehicle


    Additional title:

    一种四轮独立线控转向车辆的稳定转向控制方法


    Contributors:
    LI ZHONGLI (author) / TAN ZHIHUA (author) / YANG WENHAO (author) / ZHAO JIANHUA (author) / TIAN YU (author) / ZHANG HAOLE (author)

    Publication date :

    2024-04-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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