基于MATLAB/Simulink的四轮转向汽车运动学仿真与分析
沈仙法,陈晓颖
(三江学院 机械与电气工程学院,江苏 南京210012)
摘要:为提高四轮转向汽车的行驶稳定性,分析了四轮转向系统的工作原理,建立了四轮转向系统的运动学数值模型,设计了四轮转向系统仿真试验方案和控制策略,再利用MATLAB/Simulink分别在低速   8 km/h和高速100 km/h条件下对FWS与4WS两种车辆进行了仿真分析,并比较了汽车在两种速度下的质心侧偏角、横摆角速度和侧向加速度的变化情况。仿真结果认为:车辆在进入稳态后,4WS比FWS的稳定性更好,4WS车辆在低速时转向能力更强,高速时操控能力更加稳定。研究成果为四轮转向汽车的设计改进提供了技术参考。
关键词:四轮转向;前轮转向;运动学;仿真;MATLAB/Simulink 
中图分类号:U461 文献标志码:A doi:10.3969/j.issn.1006-0316.2022.04.007
文章编号:1006-0316 (2022) 04-0038-06
Kinematics Simulation and Analysis of Four-Wheel Steering Vehicle Based on MATLAB/Simulink
SHEN Xianfa,CHEN Xiaoying
( School of Mechanical and Electrical Engineering, Sanjiang University, Nanjing 210012, China )
Abstract:Aiming at improving the driving stability of four-wheel steering vehicle, the working principle of four-wheel steering system was analyzed and the kinematic mathematical model of four-wheel steering system was established. The simulation test scheme and control strategy of four-wheel steering system were designed , and then FWS and 4WS vehicles were simulated in MATLAB/Simulink and analyzed at low speed of 8 km/h and high speed of 100 km/h respectively. The changes of centroid sideslip angle, yaw rate and lateral acceleration under two speeds were compared. The simulation results show that 4WS has better stability than FWS after entering the steady state and 4WS has stronger steering ability at low speed and more stable handling ability at high speed. The research results provide a technical reference for the design improvement of four-wheel steering vehicle.
Key words:four wheel steering;front wheel steering;kinematics;simulation;MATLAB/Simulink
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收稿日期:2021-08-17
基金项目:三江学院科研资助项目(2019SJKY005);江苏省高校自然科学研究资助项目(14KJB460022);江苏省青蓝工程(苏教师函〔2019〕31号)
作者简介:沈仙法(1974-),男,江苏扬州人,博士,副教授,主要研究方向为机械系统动态设计及优化,E-mail:jsgynjsxf@126.com。
 

 

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