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建立了四轮转向汽车的数学模型,推导出其传递函数,在此基础上利用Matlab/Simulink软件建立了仿真模型,并且为四轮转向模型设计了PID控制器,最后对模型进行了仿真。仿真结果表明,四轮转向汽车无论在低速还是在高速工况下其转向性能都优于前轮转向汽车。同时证明,文中所设计的PID控制器参数合理,能很好地控制汽车转向。
The mathematic model of four-wheel steering car was established and its transfer function was deduced. Based on that, a simulation model was established by using Matlab / Simulink software, and a PID controller was designed for the four-wheel steering model. Finally, the model was simulated. The simulation results show that the steering performance of the four-wheel steering vehicle is better than that of the front steering vehicle in both low speed and high speed conditions. At the same time, it proves that the parameter of PID controller designed in this paper is reasonable and can well control the steering of vehicle.