Abstract
From the perspective of vehicle dynamics, the four-wheel independent steering vehicle dynamics stability control method is studied, and a four-wheel independent steering varying parameter linear quadratic regulator control system is proposed with the help of expert control method. In the article, a four-wheel independent steering linear quadratic regulator controller for model following purpose is designed first. Then, by analyzing the four-wheel independent steering vehicle dynamic characteristics and the influence of linear quadratic regulator control parameters on control performance, a linear quadratic regulator control parameter adjustment strategy based on vehicle steering state is proposed to achieve the adaptive adjustment of linear quadratic regulator control parameters. In addition, to further improve the control performance, the proposed varying parameter linear quadratic regulator control system is optimized by genetic algorithm. Finally, simulation studies have been conducted by applying the proposed control system to the 8-degree-of-freedom four-wheel independent steering vehicle dynamics model. The simulation results indicate that the proposed control system has better performance and robustness and can effectively improve the stability and steering safety of the four-wheel independent steering vehicle.
Highlights
In these years, vehicle active safety technology,[1,2] pedestrian protection technology,[3] and vehicle accident prevention technology[4,5] have became the hotspots in the research of traffic safety, especially about the vehicle active safety technology
Compared with the traditional front-wheel steering (FWS) vehicle, the rear wheels of 4WS vehicle are involved in the control of yaw and roll motions along with the front wheels
A parameter adjuster based on vehicle steering state
Summary
Vehicle active safety technology,[1,2] pedestrian protection technology,[3] and vehicle accident prevention technology[4,5] have became the hotspots in the research of traffic safety, especially about the vehicle active safety technology. An 8-DOF 4WIS vehicle dynamics model developed here for simulation purposes includes the longitudinal and lateral motions, the yaw motion, the roll motion, and the rotational motion of four wheels. The design of LQR controller relies on state-space model, and a 2-DOF 4WIS vehicle dynamics model which can efficiently characterize the vehicle steering behavior under non-limit state is developed in this article.[24] The 2DOF 4WIS vehicle model consists of the lateral and yaw motions and uses the wheel steering angles as the inputs. From equations (10) and (12), the state-space equation of the desired vehicle model can be expressed as
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