关键词: 四轮转向(4WS), 操纵稳定性, 稳态, 瞬态

Abstract:

Based on the 2DOF linear bicycle model, the handling and stability of 4WS vehicle was studied herein.The rear wheel control algorithm was discussed in time domain and frequency domain in order to improve the maneuverability at low speed and stability at high speed. By using the lateral acceleration as 0.4g to define the effective working area for 4WS, the range for rear steering angle was derived. The steady-state and transient-state of two typical control algorithms were compared and analyzed. The control algorithm does not affect the steady-state characteristics of the vehicle, but can improve the transient response. This provides the theoretical basis for the development of the 4WS system.

Key words: four wheel steering(4WS), handling and stability, steady-state, transient-state