关键词: 四轮转向, 模糊控制, 多体系统动力学, 协同仿真

Abstract: A new intelligent controlled FourWheel Steering (4WS) was proposed by using fuzzy control strategy which was suitable for control nonlinear systems. The proposed 4WS took the side slip angle of the vehicle and yaw velocity of the vehicle as fuzzy control rule input, and the output was the rear wheel steering angle. A fuzzy control strategy model of 4WS was constructed by MATLAB/Simulink fuzzy control toolbox, and using the fuzzy control strategy to drive the rear wheel. A multibody vehicle dynamic model was set up by ADAMS including the detailed suspension and steering system kinematics freedom and nonlinear characteristics of the tire, bushing, spring and damper, and the model could accurately predict dynamics performance of the vehicle. The two models were integrated and cosimulated by the interface of ADAMS/Control. Simulation result indicated that the fuzzy control could improve the handling and stability of vehicles greatly with stronger robustness.

Key words: four wheel steering, fuzzy control, multibody system dynamics, cosimulation