基于全轮转向的三轴车辆横向稳定性控制研究

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主题词：三轴车辆 全轮转向非奇异快速终端滑模模糊PID 操纵稳定性中图分类号：U463.6 文献标志码：A DOI：10.19620/j.cnki.1000-3703.20240093

ResearchonLateral StabilityControlofThree-AxleVehicleBased on All-Wheel Steering

Dong Gaoshang， Sun Xiaoqiang，Quan Zhenqiang， Chen Long （Institute of Automotive Engineering，Jiangsu University，Zhenjiang 212013）

【Abstract】Inorder toimprove theactivesafetyof three-axlevehicleunder specialdriving conditions，anall-wheel steringcontrolstrategycombiningfedforwardcontrolandfeedbackcontrolisproposed.Firstlyconsideringthenonliear mechanicalpropertiesoftiresandthediferenceofverticalstiffessofeachaxle，anine-degreeof-freedomtheeaxlevehicle dynamicsmodelisestablished，andthetirecorneringstiffesinthreferencemodelisdynamicallycoectedinealtime basedon Newton interpolation method.Onthebasisofthismodel，azero-centroid sideslipangle proportional feedforward control basedonAckerman principleis proposedtocooperatewith thefront wheel steering feedback controller basedon NonsingularFast Terminal Sliding Mode （NFTSM）and the middleandrear wheel steering fedback controllerbasedonFuzzy PIDtoformanall-wheelsteringcontolstrategy.Finally，tevehicleissimulatedandverifiedundertheconditionoffishhook anddoublelanechange.Theresultsshowthat thedesignedall-whelsteering controlsystemimproves thevehicle'strajectory tracking performance by 34% and lateral stability by 26% over the feedforward control strategy.

KeyWords：Three-axle vehicle，Al-wheel steering，Nonsingular Fast Terminal Sliding Mode （NFTSM）， Fuzzy PID，Handling stability

【引用格式】董高尚，孙晓强，全振强，等.基于全轮转向的三轴车辆横向稳定性控制研究[J].汽车技术，2025（8）：49-55.DONGGH，SUNXQ，QUANZQ，etal.ResearchonLateralStabilityControlofThree-Axle VehicleBasedonAllWheelSteering[J].Automobile Technology，2025（8）： 49-55.

1前言

三轴车辆在公路物流、矿产运输中广泛应用。（剩余8172字）