A four-wheel steering vehicle stability control method based on time-varying dynamics model is proposed
A four-wheel steering vehicle and stability control technology, which is applied to automatic steering control components, steering mechanisms, steering rods, etc., and can solve problems such as the inability to reflect the nonlinear dynamic characteristics of the vehicle and the poor control effect of the 4WS system.
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[0083] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
[0084] figure 1 It is a schematic diagram of the system structure of a four-wheel steering vehicle stability control method based on a time-varying dynamics model of the present invention. The system mainly includes a reference model 1, a tire data processor 2, an MPC controller 3, and a CarSim vehicle model 4; the reference model 1 is used to determine the desired car yaw rate and side slip angle of the center of mass; the tire data processor 2 is used to determine the side slip angle, lateral force and lateral force gradient of the tire; CarSim car model 4 is used to output the actual motion of the car State information, including vehicle longitudinal velocity, yaw rate, center-of-mass sideslip angle, and road adhesion coefficient; MPC controller 3 optimizes and solves the car’s vehicle’s state information based on the expected vehicle yaw rate, cen...
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