Research On Four Wheel Steering Control Method And Experimental System Design Of Model Vehicle

Four Wheel Steering (abbreviated as 4WS) control technology is the technology that through adding active rear wheel steering in order to heighten the handling stability and the security in high speed or under the effect of side wind and improve the maneuverability in low speed when the vehicle is turing. The paper analyzed the existing the modeling approaches, the established models at home and abroad and the current research trends of control strategy. The single control method can not fit the complicated running conditions of the vehicle, so the author takes the multi-mode control as the research direction of this paper. With the insentive study of the existing multi-mode control method based on fuzzy selector and through conparing the simulation results of MATLAB and SIMULINK of the three control methods in high speed turning and low speed turning, and concluded that the multi-mode control method can exert the advantages of all the sub-control method. In consideration of the alternative control method of high-speed steering that model reference adaptive control method is very difficult to realize, so parameters self-tuning fuzzy PID control method has been designed as a new high-speed steering alternative control method. The new method has been simulation with MATLAB/ SIMULINK based on three degrees of freedom model. Through comparison analysis of the simulation result, the author put forward the physics experiments is necessary for test and verify control effect of these control method.The experiment based on 4WS model vehicle need to finish the design of controller hardware, mechanical of the model vehicle and control software. In the process of debugging the hardware, the author analyzed the error of the existing hardware and then put forward solutions and finished the selection and design of sensors. The driving, transmission and steering system of the model vehicle was designed and optimized with using UG software and mechatronics knowledge. The host computer control interface, the program on CC1110RF and DSP chip has been designed in this paper.