第9章 汽车四轮转向控制系统的仿真 [基于MATLAB的控制系统仿真及应用]
实验报告基于Matlab的控制系统仿真1
实验一 基于Matlab 的控制系统模型姓名 学号 班级机械一、实验目的1) 熟悉Matlab 的使用环境，学习Matlab 软件的使用方法和简单编程方法。
2) 学习使用Matlab 软件进行拉氏变换和拉式反变换的方法。
3) 学习使用Matlab 软件建立、转换连续系统数学模型的方法。
4) 学习使用Matlab 软件分析控制系统稳定性的方法。
二、实验原理1. 拉氏变换和反拉氏变换(1) 拉氏变换syms a w tf1=exp(-a*t)laplace(f1)f2=2laplace(f2)f3=t*exp(-a*t)laplace(f3)f4=sin(w*t)laplace(f4)f5=exp(-a*t)*cos(w*t)laplace t-t (f5)(2) 拉氏反变换syms s a wf 1=1/silaplace(f 1)f 2=1/(s+a)ilaplace(f 2)f 3=1/s^2ilaplace(f 3)f 4=w/(s^2+w^2)ilaplace(f 4)f 5=1/(s*(s+2)^2*(s+3))ilaplace(f 5)…2. 控制系统模型的建立和转化传递函数模型：112m 112+()+m m n n nb s b s b num G s den a s a s b --++==++…… 零极点增益模型：1212()()()()()()()m n s z s z s z G s k s p s p s p ---=--- (1) 建立系统传递函数模型22(1)()(2)(3)56s s s s G s s s s s ++==++++ num=[1,1,0]den=[1,5,6]Gs1=tf(num,den)(2) 建立系统的零极点模型z=[0,-1]p=[-2,-3]k=[1]Gs1=zpk(z,p,k)(3) 传递函数模型转化为零极点模型num=[1,1,0]den=[1,5,6]Gs1=tf(num,den)[z,p,k]=tf2zp(num,den)Gs2=zpk(z,p,k)(4) 零极点模型转化为传递函数模型z=[0,-1]p=[-2,-3]k=[1]Gs1=zpk(z,p,k)[num,den]=zp2tf(z',p',k)Gs2=tf(num,den)3. 用Matlab 进行传递函数部分分式展开5434321139+52s+26()1035+50s+241 2.530.5 1s+4s+3s+2s+1num s s s G s den s s s ++==++-=++++num=[1 11 39 52 26]den=[1 10 35 50 24][r,p,k]=residue(num,den)4. 连续系统稳定性分析已知传递函数，试求该系统的闭环极点并判断系统的稳定性。
电动汽车论文：四轮独立转向四轮独立驱动目标函数仿真分析MATLAB
电动汽车论文：四轮独立转向四轮独立驱动目标函数仿真分析MATLAB【提示】本文仅提供摘要、关键词、篇名、目录等题录内容。
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【摘要】车辆的操纵稳定性是评价车辆主动安全性能重要指标之一，对于如何评价车辆稳定性能，是研究车辆安全性能一个非常重要的课题。
四轮独立转向系统车辆能够很好的改善汽车横向动力学特性，本课题的研究是基于四轮独立转向系统控制策略下的操纵动力学特性，对四轮独立转向电动汽车仿真进行了分析和研究。
首先，介绍了燕山大学独立开发设计的四轮独立驱动四轮独立转向(4WID-4WIS)电动汽车硬件结构以及控制系统组成，在此车辆基础上建立整车二自由度动力学线性模型，应用Matlab软件对此线性模型进行离散化处理，得到相应矩阵参数，建立不同速度的离散化模型，为下文控制器模型设计打下基础。
其次，对整车控制器进行设计。
建立不同速度模型下离散模型目标函数，应用Fmincon函数建立控制器优化函数，通过仿真试验验证，确定横摆角速度和质心侧偏角参数最佳组合。
最后，通过仿真实验验证控制器模型正确性。
在Matlab/Simulink模块中建立整车仿真模型，对低速、中高速下直线工况、加减速工况及转向工况分别进行仿真研究，分析车辆质心侧偏角和横摆角速度响应特性变化规律，同时得出车轮转角和车轮纵向力曲线。
仿真试验结果表明，对于四轮独立转向电动车，本文所设计控制器能够很好地改善其操纵稳定性，验证了控制器正确性。
【关键词】电动汽车；四轮独立转向；四轮独立驱动；目标函数；仿真分析；MATLAB；【篇名】四轮独立转向电动汽车的转向控制仿真研究【目录】四轮独立转向电动汽车的转向控制仿真研究摘要5-6Abstract6第1章绪论9-14 1.1 课题背景及研究意义9-11 1.1.1 电动汽车9-10 1.1.2 四轮独立转向技术10-11 1.1.3 动力学仿真技术11 1.2 国内外研究现状11-13 1.2.1 国外研究现状11-12 1.2.2 国内研究现状12-13 1.3 主要研究工作13-14 1.3.1 技术路线13 1.3.2 本文主要研究内容13-14第2章硬件介绍及建立车辆动力学模型14-26 2.1 硬件介绍14-18 2.1.1 硬件介绍14-17 2.1.2 四轮独立转向控制系统17-18 2.2 建立 4WIS 二自由度动力学模型18-25 2.2.1 轮胎数学模型18-19 2.2.2 四轮独立转向线性动力学模型19-22 2.2.3 可控性和可观测性22-23 2.2.4 连续模型离散化23-25 2.3 本章小结25-26第3章控制器设计26-44 3.1 控制策略研究26-28 3.1.1 传统四轮转向汽车控制系统26-27 3.1.2 四轮独立转向控制思想27-28 3.1.3 整车控制框图28 3.2 控制器设计28-34 3.2.1 问题提出28-30 3.2.2 确定目标函数30-33 3.2.3 Fmincon 函数介绍33-34 3.3 软件介绍及确定参数34-43 3.3.1 Matlab 软件简介34 3.3.2 确定参数C1 和C34-39 3.3.3 确定参数α1 和α239-43 3.4 本章小结43-44第4章仿真试验结果及分析44-59 4.1 建立仿真系统模型44-45 4.2 仿真及分析45-57 4.2.1 直线行驶工况分析45-51 4.2.2 转向工况分析51-53 4.2.3 加速工况分析53-55 4.2.4 减速工况分析55-57 4.3 仿真试验结论57-58 4.4 本章小结58-59结论59-60参考文献60-63攻读硕士学位期间承担的科研任务与主要成果63-64致谢64-65作者简介65（英文版）Two regulations promulgated for implementation is in the party in power for a long time and the rule of law conditions, the implementation of comprehensive strictly strategic plan, implementation in accordance with the rules and discipline to manage the party, strengthen inner-party supervision of major initiatives. The two regulations supporting each other, the < code > adhere to a positive advocate, focusing on morality is of Party members and Party leading cadres can see, enough to get a high standard; < rule > around the party discipline, disciplinary ruler requirements, listed as "negative list, focusing on vertical gauge, draw the party organizations and Party members do not touch the" bottom line ". Here, the main from four square face two party rules of interpretation: the first part introduces two party Revised regulations the necessity and the revision process; the second part is the interpretation of the two fundamental principles of the revision of laws and regulations in the party; the third part introduces two party regulations modified the main changes and needs to grasp several key problems; the fourth part on how to grasp the implementation of the two regulations of the party. < code > and < Regulations > revised the necessity and revisedhistory of the CPC Central Committee the amendment to the Chinese Communist Party members and leading cadres honest politics several guidelines > and < Chinese Communist Party discipline and Punishment Regulations > column 1 by 2015 to strengthen party laws and regulations focus. Two party regulations revision work lasted a Years, pooling the wisdom of the whole party, ideological consensus, draw historical experience, respect for the wisdom of our predecessors, which reflects the unity of inheritance and innovation; follow the correct direction, grasp the limited goals, adhere to the party's leadership, to solve the masses of the people reflect a focus on the problem. The new revision of the < code > and < rule >, reflects the party's 18 and the eighth session of the third, the spirit of the fourth plenary session, reflecting the experience of studying and implementing the General Secretary Xi Jinping series of important speech, reflects the party's eighteen years comprehensive strictly practice. (a) revised two regulations of the party need of < the ICAC guidelines > in < in 1997 Leaders as members of the Communist Party of China clean politics certain criteria (Trial) > based on revised, the promulgation and implementation of January 2010, to strengthen the construction of the contingent of leading cadres play animportant role. But with the party to manage the party strictly administering the deepening, has not been able to fully meet the actual needs. Content is too complicated, "eight prohibition, 52 are not allowed to" hard to remember, and also difficult to put into practice; the second is concisely positive advocated by the lack of prohibited provisions excessive, no autonomy requirements; the third is banned terms and discipline law, both with the party discipline, disciplinary regulations repeat and Criminal law and other laws and regulations repeat; the fourth is to "clean" the theme is not prominent, not for the existing problems, and is narrow, only needle of county-level leading cadres above. < rule > is in 1997 < Chinese Communist Party disciplinary cases (Trial) > based on revision, in December 2003 the promulgation and implementation, to strengthen the construction of the party play very important role. Along with the development of the situation, which many provisions have been unable to fully meet the comprehensive strictly administering the practice needs. One is Ji law, more than half of the provisions and criminal law and other countries laws and regulations Repetition; two is the political discipline regulations is not prominent, not specific, for violation of the party constitution, damage theauthority of Party Constitution of misconduct lack necessary and serious responsibility to pursue; third is the main discipline for the leading cadres, does not cover all Party members. Based on the above situation, need to < the criterion of a clean and honest administration > and < rule > the two is likely to be more relevant regulations first amendment. By revising, really put the authority of Party discipline, the seriousness in the party tree and call up the majority of Party members and cadres of the party constitution of party compasses party consciousness. (II) two party regulations revision process the Central Committee of the Communist Party of China attaches great importance to two regulations revision . Xi Jinping, general books recorded in the Fifth Plenary Session of the eighth session of the Central Commission for Discipline Inspection, on the revised regulations < > made clear instructions. According to the central deployment, the Central Commission for Discipline Inspection from 2014 under six months begin study two regulations revision. The Standing Committee of the Central Commission for Discipline Inspection 4 review revised. Comrade Wang Qishan 14 times held a special meeting to study two regulations revision, amendment clarifies the direction, major issues of principle, path and target,respectively held a forum will listen to part of the province (area) secretary of the Party committee, Secretary of the Discipline Inspection Commission, part of the central ministries and state organs DepartmentThe first party committee is mainly responsible for people, views of experts and scholars and grassroots party organizations and Party members. Approved by the Central Committee of the Communist Party of China, on 7 September 2015, the general office of the Central Committee of the Party issued a notice to solicit the provinces (autonomous regions, municipalities) Party, the central ministries and commissions, state ministries and commissions of the Party (party), the General Political Department of the military, every 3 people organization of Party of two regulations revision opinion. Central Commission for Discipline Inspection of extensive solicitation of opinions, careful study, attracting, formed a revised sent reviewers. In October 8 and October 12, Central Committee Political Bureau Standing Committee and the Political Bureau of the Central Committee After consideration of the two regulations revised draft. On October 18, the Central Committee of the Communist Party of China formally issued two regulations. Can say, two laws amendment concentrated thewisdom of the whole party, embodies the party. Second, < code > and < Regulations > revision of the basic principles of two party regulations revision work and implement the party's eighteen, ten eight plenary, the spirit of the Fourth Plenary Session of the Eleventh Central Committee and General Secretary Xi Jinping important instructions on the revised < low political criterion > and < Regulations >, highlighting the ruling party characteristics, serious discipline, the discipline quite in front of the law, based on the current, a long-term, advance as a whole, with Bu Xiuding independent < rule > and < rule >. Main principle is: first, adhere to the party constitution to follow. The constitution about discipline and self-discipline required specific, awaken the party constitution of party compasses party consciousness, maintaining the authority of the constitution. General Secretary Xi Jinping pointed out that "no rules, no side round. Party constitution is the fundamental law, the party must follow the general rules. In early 2015 held the eighth session of the Central Commission for Discipline Inspection Fifth Plenary Session of the 16th Central Committee, Xi Jinping again pointed out that constitution is the party must follow the general rules, but also the general rules." the revision of the< code > and < rule > is Method in adhere to the regulations established for the purpose of combining rule of virtue is to adhere to the party constitution as a fundamental to follow, the constitution authority set up, wake up the party constitution and party rules the sense of discipline, the party constitution about discipline and self-discipline specific requirements. 4 second is to adhere to in accordance with the regulations governing the party and the party. The Party of rule of virtue "de", mainly refers to the party's ideals and beliefs, excellent traditional style. The revised the < code > closely linked to the "self-discipline", insisting on the positive initiative, for all members, highlight the "vital few", emphasized self-discipline, focusing on the morality, and the majority of Party members and the ideological and moral standards. The revised < > Ji method separately, Ji, Ji Yan to Method, as a "negative list", emphasizing the heteronomy, focusing on vertical gauge. Is this one high and one low, a positive reaction, the strict party discipline and practice results transformation for the integration of the whole party to observe moral and discipline requirements, for the majority of Party members and cadres provides benchmarking and ruler. Third, insist on to. In view of the problems existing in theparty at the present stage, the main problems of Party members and cadres in the aspect of self-discipline and abide by the discipline to make clearly defined, especially the party's eighteen years strict political discipline and political rules, organization and discipline and to implement the central eight provisions of the spirit against the four winds and other requirements into Disciplinary provisions. Not one pace reachs the designated position, focusing on in line with reality, pragmatic and effective. After the revision of major changes, major changes in the < code > and < rule > modified and needs to grasp several key problems (a) < code > < code > adhere to according to regulations governing the party and party with morals in combination, for at the present stage, the leadership of the party members and cadres and Party members in existing main problems of self-discipline, put forward principles, requirements and specifications, showing Communists noble moral pursuit, reflected at all times and in all over the world ethics from high from low 5 common requirements. One is closely linked to the "self-discipline", removal and no direct relation to the provisions of . the second is adhere to a positive advocate, "eight prohibition" 52 are not allowed to "about the content of the" negative list moved into synchronizationamendment < cases >. Three is for all the party members, will apply object from the leadership of the party members and cadres to expand to all Party members, fully embodies the comprehensive strictly required. The fourth is prominent key minority, seize the leadership of the party members and cadres is the key, and put forward higher requirements than the ordinary Party members. Five is to simplify, and strive to achieve concise, easy to understand, easy to remember. The revised < code > is the ruling Party since the first insists on a positive advocate forAll Party members and the self-discipline norms, moral declaration issued to all members of the party and the National People's solemn commitment. > < criterion of a clean and honest administration consists of 4 parts, 18, more than 3600 words. After the revision of the < code >, a total of eight, 281 words, including lead, specification and Party member cadre clean fingered self-discipline norms, etc. Part 3 members low-cost clean and self-discipline, the main contents can be summarized as "four must" "eight code". Lead part, reiterated on ideal and faith, fundamental purpose, the fine traditions and work style, noble sentiments, such as "four must" the principle of requirements, strong tone of self-discipline, The higher request for 6 andsupervised tenet, the foothold in permanent Bao the party's advanced nature and purity, to reflect the revised standards requirements. Members of self-discipline norms around the party members how to correctly treat and deal with the "public and private", "cheap and rot" thrifty and extravagance "bitter music", put forward the "four norms". Party leader cadre clean fingered self-discipline norms for the leadership of the party members and cadres of the "vital few", around the "clean politics", from civil servant of the color, the exercise of power, moral integrity, a good family tradition and other aspects of the leadership of the party members and cadres of the "four norms" < > < norm norm. "The Party member's self-discipline norms" and "party members and leading cadre clean fingered self-discipline norms," a total of eight, collectively referred to as the "eight". "Four must" and "eight" of the content from the party constitution and Party's several generation of leaders, especially Xi Jinping, general secretary of the important discussion, refer to the "three discipline and eight points for attention" statements, and reference some embody the Chinese nation excellent traditional culture essence of epigrams. (2) the revised regulations, the main changes in the revised Regulations > to fully adapt to thestrictly requirements, reflects the according to the regulations governing the law of recognition of deepening, the realization of the discipline construction and Jin Ju. < rule > is party a ruler, members of the basic line and follow. And the majority of Party members and cadres of Party organizations at all levels should adhere to the bottom line of thinking, fear discipline, hold the bottom line, as a preventive measure, to keep the party's advanced nature and purity. 1, respect for the constitution, refinement and discipline. Revised < rule > from comprehensive comb physical constitution began, the party constitution and other regulations of the Party of Party organizations and Party discipline requirements refinement, clearly defined in violation of the party constitution will be in accordance with regulations to give the corresponding disciplinary action. The original 10 categories of misconduct, integration specification for political discipline, discipline, honesty and discipline masses Ji Law and discipline and discipline and other six categories, the content of < rule > real return to Party discipline, for the majority of Party members and listed a "negative list. 7 2, highlighting the political discipline and political rules. > < Regulations according to the stage of the discipline of outstandingperformance, emphasizing political discipline and political rules, organization and discipline, in opposition to the party's leadership and the party's basic theory, basic line, basic program and basic experience, the basic requirement of behavior made prescribed punishment, increase the cliques, against the organization such as violation of the provisions, to ensure that the central government decrees and the Party of centralized and unified. 3, adhere to strict discipline in the law and discipline In front, Ji separated. Revised < Regulations > adhere to the problem oriented, do Ji separated. Any national law existing content, will not repeat the provisions, the total removal of 79 and criminal law, repeat the content of the public security management punishment law, and other laws and regulations. In the general reiterated that party organizations and Party members must conscientiously accept the party's discipline, die van comply with national laws and regulations; at the same time, to investigate violations of Party members and even criminal behavior of Party discipline and responsibility, > < Regulations distinguish five different conditions, with special provisions were made provisions, so as to realize the connection of Party discipline and state law. 4, reflect Wind building and anti-corruptionstruggle of the latest achievements. < rule > the party's eighteen years implement the spirit of the central provisions of the eight, against the requirements of the "four winds" and transformation for disciplinary provisions, reflecting the style construction is always on the road, not a gust of wind. In the fight against corruption out of new problems, increase the trading rights, the use of authority relatives profit and other disciplinary terms. Prominent discipline of the masses, the new against the interests of the masses and ignore the demands of the masses and other disciplinary terms and make provisions of the disposition and the destruction of the party's close ties with the masses.Discipline to protect the party's purpose. 8 of these regulations, a total of three series, Chapter 15, 178, more than 24000 words, after the revision of the regulations a total of 3 series, Chapter 11, 133, 17000 words, divided into "general" and "special provisions" and "Supplementary Provisions" Part 3. Among them, add, delete, modify the provisions of the proportion of up to nearly 90%. 1, the general general is divided into five chapters. The first chapter to the regulations of the guiding ideology, principles and scope of application of the provisions, highlight the strengthening ofthe party constitution consciousness, maintenance the authority of Party Constitution, increase the party organizations and Party members must abide by the party constitution, Yan Centralized centralized, would examine at all levels of the amended provisions implementing and maintaining Party discipline, and consciously accept the party discipline, exemplary compliance with national laws and regulations. The second chapter of discipline concept, disciplinary action types and effects of the regulations, will be a serious warning from the original a year for a year and a half; increase the Party Congress representative, by leaving the party above (including leave probation) punishment, the party organization should be terminated its representative qualification provisions. The third chapter of the disciplinary rules of use prescribed in the discipline rectifying process, non convergence, not close hand classified as severely or heavier punishment. "Discipline straighten "At least eighteen years of five years, these five years is to pay close attention to the provisions of the central eight implementation and anti -" four winds ". The fourth chapter on suspicion of illegal party disciplinary distinguish five different conditions, with special provisions were madeprovisions, to achieve effective convergence of Party and country 9 method. < rule > the provisions of Article 27, Party organizations in the disciplinary review found that party members have committed embezzlement, bribery, dereliction of duty dereliction of duty and other criminal law act is suspected of committing a crime shall give cancel party posts, probation or expelled from the party. The second is < Regulations > Article 28 the provisions of Party organizations in the disciplinary review But found that party members are stipulated in the criminal law, although not involved in a crime shall be investigated for Party discipline and responsibility should be depending on the specific circumstances shall be given a warning until expelled punishment. This situation and a difference is that the former regulation behavior has been suspected of a crime, the feeling is quite strict, and the latter for the behavior not involving crime, only the objective performance of the provisions of the criminal code of behavior, but the plot is a crime to slightly. < Regulations > the 29 provisions, Party organizations in the discipline review found that party members and other illegal behavior, affect the party's image, the damage to the party, the state and the people's interests, we should depend on the situationSeriousness given disciplinary action. The loss of Party members, seriously damaging the party's image of behavior, should be given expelled from the party. At this article is party member is in violation of the criminal law outside the other illegal acts, such as violates the public security administration punishment law, customs law, financial laws and regulations behavior. The fourth is < cases > Article 32 stipulates, minor party members and the circumstances of the crime, the people's Procuratorate shall make a decision not to initiate a prosecution, or the people's court shall make a conviction and exempted from criminal punishment shall be given within the party is removed from his post, probation or expelled from the party. Party members and crime, sheets were fined in accordance with For acts; the principal Ordinance amended the provisions of the preceding paragraph. This is the new content, in order to achieve Ji method effective convergence. Five is < > the thirty third article 10 of the provisions, the Party member due to an intentional crime is sentenced to criminal law (including probation) sheets or additional deprivation of political rights; due to negligence crime and was sentenced to three years or more (excluding three years) a penalty, shall give expelled punishment. Due to negligence crime is convictedand sentenced to three years (including three years) in prison or be sentenced to public surveillance, detention, shall in general be expelled from the party. For the individual may not be expelled from the party, should control Approval. This is followed and retained the original > < Regulations the provisions of punishment party authorization rules and report to a level party organizations. For is "party members with criminal acts, and by the criminal punishment, generally should be expelled from the party". The fifth chapter of probationary Party member of the discipline and discipline after missing members of the treatment and punishment decisions, such as the implementation of the provisions, clear the related party discipline and punishment decision made after, for duties, wages and other relevant alteration formalities for the longest time. 2, sub sub section will the original regulations of10 categories of acts of violation of discipline integration revised into 6 categories, respectively, in violation of the punishments for acts of political discipline "in violation of discipline behavior of punishment" in violation of integrity of disciplinary action points "of violation punishments for acts of mass discipline" "the violation of work discipline, punishment" in violation of discipline of life behaviorpunishment "6 chapters. 3, annex" Supplementary Provisions "clear authority making supplementary provisions of, cases of interpretative organ, as well as regulations implementation time and retroactivity etc.. 11 (3) learning understanding > < regulations needs to grasp several key problems The first problem -- about the violation of political discipline behavior > < new ordinance chapter 6 the political discipline column for the six disciplines, that is the main opposition to Party leadership and the opposition of the basic theory, basic line, basic program and basic experience, basic requirements of misconduct made provisions of the disposition, especially the eighteen since the CPC Central Committee put forward the Yan Mingzheng treatment of discipline and political rules requirements and practical achievements transformation for Discipline article, increase the false debate central policies, cliques, against the organization review, make no discipline of the principle of harmony terms. These are the party's eighteen years in comprehensive strictly Process combined with the practice of rich content. (1) false debate the central policies and undermine the Party of centralized and unified the problem is made in accordance with the provisions of the party constitution. Constitution in general programme requirementsadhere to democratic centralism is one of the requirements of the construction of the party must adhere to the four cardinal. Application of this principle is not only the party the basic organization principle and is also the mass line in party life, it requires that we must fully develop inner-party democracy, respect for the dominant position of Party members, safeguarding the Party member democratic rights, give full play to the enthusiasm and creativity of the party organizations at all levels and Party members, at the same time, also must implement the right concentration, ensure the party's mission < the chaos in unity and concerted action to ensure that the party's decision to get quickly and effectively implementing. The Party Central Committee formulated the major principles and policies, through different channels and ways, fully listen to the party organizations and Party members of the opinions and suggestions, but 12 is some people face to face not to say back blather "" will not say, after the meeting said, "" Taiwan does not say, and nonsense ", in fact, not only disrupt the people thought, some causing serious consequences, the damage to the Party of the centralized and unified, hinder the central policy implementation, but also a serious violation of the democratic system of principles. There is no doubt that shall, inaccordance with the Regulations > 4 Specified in Article 6 to give the appropriate punishment. For did not cause serious consequences, to give criticism and education or the corresponding tissue processing. (2) about the destruction of the party's unity < New Regulations > the forty eighth to fifty second article, to damage Party's unity unified and violation of political discipline, punishment situation made explicit provisions. Article 52 of the new "in the party get round group, gangs seek private gain, cliques, cultivate private forces or through the exchange of interests, for their own to create momentum and other activities to gain political capital, given a serious warning or withdraw from their party posts disposition; if the circumstances are serious, to give Leave a party to observation or expelled from the party. (3) on against the organization review of the provisions of the constitution, party loyalty honesty is party members must comply with the obligations. Members must obey the organization decision, shall not violate the organization decided encounters by asking questions to find organization, rely on the organization, shall not deceive the organization, against the organization. For example, after the investigation does not take the initiative to explain the situation, but to engage in。
基于联合仿真的四轮转向汽车控制策略研究
基于联合仿真的四轮转向汽车控制策略研究冯樱;邓召文;高伟【摘要】基于四轮转向技术和模糊控制理论,提出一种新的四轮转向汽车后轮转角控制策略,即比例前馈加模糊反馈.在ADAMS/car模块中建立四轮转向整车多体动力学模型,并基于Matlab/Simulink依据控制策略设计了四轮转向汽车控制系统,由ADAMS与Matlab的数据接口实现了控制系统与整车动力学模型联合,对四轮转向汽车进行典型行驶工况的联合仿真试验.仿真结果表明:所设计的后轮转角控制器能使车辆很好地跟随理想转向模型,提高了车辆的操纵稳定性.【期刊名称】《重庆交通大学学报（自然科学版）》【年(卷),期】2010(029)006【总页数】5页(P997-1001)【关键词】四轮转向;多体系统动力学;前馈控制;模糊控制;联合仿真【作者】冯樱;邓召文;高伟【作者单位】湖北汽车工业学院,汽车工程系,湖北,十堰,442002;湖北汽车工业学院,汽车工程系,湖北,十堰,442002;湖北汽车工业学院,汽车工程系,湖北,十堰,442002【正文语种】中文【中图分类】U461.3;TP391.9四轮转向(4WS)是汽车工业的高新技术之一，是主动底盘控制技术研究的关键。
4WS汽车通过后轮直接参与对汽车侧向及横摆运动的控制，不仅减少了转向力产生的滞后，而且能独立地控制汽车的运动轨迹与姿态，使汽车的方向角与姿态角重合，改善了车辆高速时的操纵稳定性和低速时的机动灵活性［1］。
目前，4WS所采用的控制策略基本都是基于线性二自由度模型，围绕着使车辆质心的侧偏角为0，以提高侧向稳定性。
但车辆状态和外界干扰的不确定性直接影响控制系统设计，控制性能往往难以达到设计要求［2］。
对4WS控制系统的研究已逐渐从线性向非线性领域过渡。
笔者在ADAMS中建立四轮转向的多刚体整车动力学模型，进行了四轮转向汽车控制策略研究，提出了比例前馈加模糊反馈的后轮转角控制策略，在Matlab/Simulink设计了四轮转向综合控制器，并基于ADAMS和Matlab联合仿真技术进行了仿真试验。
基于MATLAB四轮转向车辆PID控制的建模与仿真
基于MATLAB四轮转向车辆PID控制的建模与仿真
王晨
【期刊名称】《成都大学学报（自然科学版）》
【年(卷),期】2015(034)004
【摘要】以二自由度整车操纵稳定性研究为基础,建立车身零侧偏角的前馈控制策略对四轮转向车辆实施控制.在NATLAB中建立前轮转向、四轮转向车辆模型,并在角阶跃工况下进行仿真,发现其存在横摆角速度损失的缺陷,提出PID车身横摆角补偿控制策略,通过建模在角阶跃工况下仿真.结果表明:横摆角速度补偿控制策略可较好地解决车辆转向灵敏度的问题.
【总页数】4页(P404-407)
【作者】王晨
【作者单位】成都高原汽车工业有限公司,四川成都610100
【正文语种】中文
【中图分类】U463.4;TP391.92
【相关文献】
1.基于MATLAB的空调系统专家PID控制的建模与仿真 [J], 曹国庆;涂光备;安大伟;娄承芝
2.基于Matlab的无刷直流电机Fuzzy-PID控制研究及其建模仿真 [J], 丁鹏;姚平喜
3.基于模糊PID控制的交流励磁调节系统的MATLAB建模与仿真 [J], 岳夕彪;杨润生
4.基于Matlab的四轮转向车辆操纵稳定性仿真研究 [J], 王辉;喻凡
5.基于Matlab/Simulink的四轮转向车辆操纵稳定性仿真 [J], 吕红明;陈南
因版权原因，仅展示原文概要，查看原文内容请购买。
基于Matlab_Simulink和神经网络的四轮转向车辆控制研究
β1
β β2 β β1
β2
o1
（a）
o2
β2 β1
（b）
β2
β1
o1
（c） （a）前轮低速转向 （c）四轮低速转向 图 1.1
o2
（d） （b）前轮高速转向 （d）四轮高速转向
两轮转向与四轮转向的对比
1
基于 Matlab/Simulink 和神经网络的四轮转向车辆控制研究
四轮转向的车辆在低速时，在后轮上附加一个与前轮转角相反的转角，可 以减小车辆的转弯半径。 由阿克曼 （Ackerman） 转向模型即可得出这样的结论[3]， 即当前轮转角相同时，四轮转向车辆的转弯半径明显小于前轮转向车辆，使车 辆在低速转弯时更加灵活[4-8]。
Key words: 4WS， Nonlinear Tire， Neural Network， Handling and Stability， Simulation Analysis
基于 Matlab/Simulink 和神经网络的四轮转向车辆控制研究
第一章 绪论
1.1 四轮转向原理简介
随着汽车工业的不断发展，改善车辆的操纵稳定性，使驾乘更加舒适和安 全，是现今汽车技术的一个重要发展方向[1]。作为提高车辆操纵稳定性、主动安 全性的四轮转向技术在这种背景下应运而生，并得到了很大的发展。 四轮转向技术能使车辆在转弯时后轮直接参与对车辆侧偏角和侧向运动的 控制，不仅可以减少转向力产生的滞后，而且还能独立地控制车辆的运动轨迹 与姿态[2]。图 1.1 所示为两轮转向与四轮转向的对比[2]，其中(a)和(b)为前轮转向 情况，(c)和(d)为四轮转向情况。由图可见，四轮转向车辆的姿态得以控制，车 辆的方向角与航向角重合，提高了车辆的侧向稳定性。
基于ADAMS／MATLAB的车辆转向操控系统仿真研究
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３３ 增 加控 制模 块 。 － 生成 系统控 制框 图
向节 、 横臂 、 下 上横 臂 、 主销 、 拉臂 、 阻尼 器 、 拉 弹簧 横
基于MatlabSimulink的四轮转向汽车操纵动力学仿真分析
武汉理工大学课程论文基于Matlab/Simulink的四轮转向汽车操纵动力学仿真分析课程：汽车动力学学院（系）：汽车工程学院专业班级：汽研学号：学生姓名：任课教师：乔维高基于Matlab/Simulink 的四轮转向汽车操纵动力学仿真分析摘要：本文分析了四轮转向(4WS)汽车的运动特性，建立了三自由度四轮转向汽车动力学模型，并基于Matlab /Simulink 对四轮转向汽车的操纵动力学进行仿真分析，结果表明四轮转向汽车的操纵性能要优于前轮转向汽车。
关键词：汽车，四轮转向，操纵动力学，仿真分析Simulation for the Handling Dynamics of Four-wheelSteering Vehicle Based on Matlab/SimulinkAbstract:Inthispaper,themotioncharacteristicsoffour-wheelsteering(4WS)vehicle are analyzed.The three degrees of freedom simulation analysis of four-wheel steering vehicle dynamics model is established. The simulation forthe handling dynamics of four-wheel steering vehicle based on Matlab / Simulink is done, and the results show that the handling performance of four-wheel steering vehicle is better than the front wheel steering vehicle.Key words:vehicle, four-wheel steering, handling dynamics, simulation 1 引言早期的汽车均采用前轮转向方式，但传统的前轮转向汽车具有低速时有低速时转向响应慢，回转半径大，转向不灵活；高速时方向稳定性差等缺点。
基于的四轮转向汽车操纵稳定性仿真
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0.41194
0.21239 B 0.85521
0.21149 D 10.67067
18
9.3.3 基于Matlab仿真
Amplitude
1、在低速（V 30km / h ）下的系统仿真
0.5
Step Response
0
-0.5
-1
-1.5
-2
-2.5
Amplitude
Step Response
8
7
6
5
4
3
2
1
00
3
6
9
12
15
Time (sec)
图9.3.4高速时横摆角速度响应曲线
4WS车辆的横摆角 速度响应迅速，很 好地实现了驾驶员 的转向意图，同时 准确地跟踪了期望 的横摆角速度。
22
由最优控制理论可知，若控制输入为
c KX R1BT LX 则性能指标J为最小
最优控制可用 c 最优反馈增益矩阵写成：
c KX [k1
得到
k2
]
r
(k1
k2r)
X ( A BK ) X Ds
16
9.3.3 基于Matlab仿真
-3
-3.50
1
2
3
4
Time (sec)
图9.3.1低速时质心侧偏角响应曲线
与2WS汽车相比，采 用最优控制的4WS车 辆的质心侧偏角瞬态 响应性能得到很大改 善，能够很快地到达 稳态值，超调量明显 减小，汽车的运动姿 态得到了很好的控制
19
9.3.3 基于Matlab仿真
1、在低速（V 30km / h）下的系统仿真
1、在低速（V 30km/ h ）下的系统仿真
图9.2.2 低速下四轮转向系统仿真模型
7
9.2.3 基于Matlab/Simulink仿真
1、在低速（V 30km/ h ）下的系统仿真
6
0.5
2WS系统
0
5
-0.5
2WS系统
4
横摆角速度反馈的4WS系统
-1
3
-1.5
-2 2
定前后轮比例控制的4WS系统
1、前轮角阶跃输入下的稳态响应 2、前轮角阶跃输入下的瞬态响应
12
9.3 基于最优控制的四轮转向系统研究
9.3.1模型的建立
前、后轮的转角可以由以下式子给出：rf
s Kcc (1 Kc )c
选取状态变量 X [ , r]T ，得到状态方程为： X AX Bc Ds
Amplitude
Step Response
1
0
-1
-2
-3
-4
-5
-6
-7
-8
0
3
6
9
12
15
Time (sec)
图9.3.3高速时质心侧偏角响应曲线
高速时，2WS汽车 的质心侧偏角比较
大，而采用最优控 制的4WS车辆可以 有效地保证质心侧 偏角接近为零。
21
9.3.3 基于Matlab仿真
1、在高速（V 90km / h）下的系统仿真
-2.5
横摆角速度反馈的4WS系统
1
-3
0
0
2
4
6
8
10
图9.2.3 低速时横摆角速度响应曲线
-3.50
2
4
6
8
10
图9.2.4 低速时质心侧偏角响应曲线
8
9.2.3 基于Matlab/Simulink仿真
2、在高速（V 90km / h ）下的系统仿真
将参数代入后，得到：
Gr
/
f
(s)
95.9422s 44.0064 8.9912s2 7.5231s 16.9434
Gr
/r
(s)
111.321s 44.0064 8.9912s2 7.5231s 16.9434
1.9016s 95.1051 G / f (s) 8.9912s2 7.5231s 16.9434
1.9177s 111.3376 G /r (s) Байду номын сангаас 8.9912s2 7.5231s 16.9434
)u2 ]L
(1 i)u (1 Ku2 )L
3
9.2.2 控制算法
图9.2.1 基于横摆角速度反馈的4WS系统控制原理图
Gr / f
(s)
a1s a0 m's2 hs
f
G / f
(s)
c1s c0 m's2 hs
f
Gr /r
(s)
b1s b0 m's2 hs
V2 2
Ou
x 得到：
L1
L2
图9.1 二自由度四轮转向汽车模型
Mu(r )
I zr Fy1Lf
Fy1 Fy2
Fy Lr
2
2
9.2.1 基于横摆角速度反馈控制的四轮转向系统研究
转角输入-横摆角速度输出的关系函数：
r(s)
a1s a0 m's2 hs
f
f
b1s b0 m's2 hs
f
r
转角输入-质心侧偏角输出的关系函数：
(s)
c1s c0 m's2 hs
f
f
d1s d0 m's2 hs
f
r
稳态横摆角速度增益：
r
f
s
[1
M L2
(1 i)u ( Lr Lf C f Cr
A
1.27433
1.71042
0.99496 1.23581
0.63716 B 0.85521
D
0.63447 10.67067
2、在低速（ V 90km/ h ）下的系统仿真
0.42478 0.995
A
1.71042
得4WS系统稳态时状态向量X对 s 的增益为：
X
s
s
(A
BK )1 D
对X 拉普拉斯变换，得：X (s) [sI A BK ]1 Ds (s)
对Y拉普拉斯变换，得: Y (s) CX (s) C[sI A BK ]1D
最后得到4WS系统的传递函数矩阵为：
输出变量 Y [ , r]T ，得到输出方程为：Y CX
C f Cr
A
MV
C f Lf Cr Lr
Iz
C f Lf Cr Lr MV 2
1
C f L2f Cr L2r
IV
C
1 0
0 1
B
C f Kc Cr (1 Kc ) MV
C
f
Lf
Kc
Cr Iz
Lr
(Kc
1)
D
Cf MV
C
fL I
f
13
9.3.2 4WS系统的可控性和能观性分析
最优控制是根据系统状态变量提供
最优反馈增益即来 c 实现的。
（1）通过判断可控性矩阵[B AB] 是否满 秩来分析控制器 对系统的可控性 （2）通过判断可控性矩阵[C CA]T 是否满 秩来分析系统是否可观测
G
/ f
(s)
s2
0.6339s 9.8231 2.5077s 3.2734
0.6392s 13.0966 G /r (s) s2 2.5077s 3.2734
稳态横摆角速度增益
r
f
s
4.4812
前后轮比例常数 i 0.844
6
9.2.3 基于Matlab/Simulink仿真
G(s) Y (s) C[sI A BK ]1 D s (s)
17
9.3.3 基于Matlab仿真
本例中选取 Kc 0.5 ，权系数 q 50 ，前轮 转角 s 为单位阶跃输入进行Matlab仿真。具 体模型数值设置如表9.3.1所示。
1、在低速（ V 30km/ h ）下的系统仿真
f
G /r
(s)
d1s d0 m's2 hs
f
4
9.2.3 基于Matlab/Simulink仿真
本例采用的汽车模型参数，见表9.2： 表9.2 汽车模型参数设置
变量名称 数值
单位 变量名称 数值
单位
M
2045 kg
Iz
5428 kg m2
Lf
1.488
m
Lr
m 1.712
Cf
-38925 N / rad
14
9.3.3 基于Matlab仿真
4WS的最优控制问题是：
在初始条件和系统参数已知的情况下， 寻找一个最优控制 ，使4WS系统工作性能指 标达到极值。
性能指标为：
J
(X
0
T QX
T c
R
c
)dt
式中
Q
q2 0
0 0
，为权矩阵，其中q、R为权系数。
15
9.3.3 基于Matlab仿真