Four-wheel Steering Hardware-in-the-loop Platform Designing And Realizing Based On DSPACE

4WS technology is a kind of active chassis control technology, it can effectively improve the vehicle’s handling stability. However, the research of 4WS system although after many years of efforts, has made many achievements, but there is no greater breakthrough progress, still in the theoretical research and discussion stage.In the case of adopting the traditional 4WS control algorithm, the actual operation of the vehicle due to various disturbances in the process, the sideslip angle can not completely be zero, this paper designs the H-infinity robust control algorithm of direct feedback sideslip angle, which can make sideslip angle remains to be zero. And with the steering test bench, CarSim and dSPACE, we build the hardware-in-the-loop simulation test platform, verify the feasibility of the H-infinity robust control algorithm.According to the electric hydraulic control system of the test bench, the nonlinear model of symmetrical valve controlled asymmetrical cylinder is established. With the theory of differential geometry control of nonlinear systems, the model is linearized. Then, using the LQR control theory, LQR optimal controller is designed. And Simulink simulation is carried out, which proves that the controller is reasonable and feasible. Finally, with the help of hardware-in-the-loop platform, we test the performance of the actuator. The results show that the electric hydraulic control system has good tracking performance and can meet the hardware in the loop simulation test.The hardware-in-the-loop platform which has been built in this paper can carry out hardware-in-the-loop simulation of various 4WS control strategy. Providing a good test platform for the 4WS control strategy analysis and design, development and verification.