| The vehicle manipulative stability always has been one of the crucial indicators thatare used to evaluate vehicle active safety performance, in that way how to evaluate vehiclestability has been also a very important topic about vehicle safety performance research.The vehicle with4wis system can improve vehicle lateral dynamic performance perfectly,so the research of this topic is manipulative dynamics features based on control strategy ofthe4wis system, analyzing and studying vehicle simulation of4wis electric vehicle.First of all, this paper introduces four-wheel independent driving and4wisindependent steering vehicle hardware structure and control system which is made byYanShan university independently, establishing two degrees dynamic linear vehicle modeland using Matlab software to makes the model discrete to get corresponding matrixparameters that can build different speed discrete model, which can lay the foundation forthe follow controller model.Secondly, this paper designs vehicle controller. The discrete model of the objectivefunction based on different speed model is built in this paper, applying fmincon functionto set up controller optimizing function through the simulation experiment test, whichconfirms best parameter combinations of yaw velocity and a centroid slip angle.Finally, controller model is correct through simulation experiment testing. Vehiclesimulation model is made in simulink module, studying simulation condition based onlow-speed, high-speed straight line road and steering status respectively to analyze yawvelocity and a centroid slip angle response features modification and obtain simulationcurve of wheel corner and wheel longitudinal force. It is obvious that, in the results ofsimulation experiment, controller established in this paper is able to improve vehiclemanipulation stability commendably and prove that the controller is correct for vehicleequipped with4wis system. |
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