关键词: 操纵性能, 四轮转向车辆, 随动控制, 最优控制, 功率超声, 径向振动, 镶拼正多边形, 压电换能器

Abstract: A follow up control model of 4WS vehicle handling dynamics is introduced firstly, which consists of the roll motion dynamic property, the steering dynamic property and the braking dynamic property. The state estimator is designed to estimate the vehicle states due to the difficulty of measuring the sideslip angle of vehicle center directly. Finally, the optimal control theory is used to design the vehicle follow up handling controller based on state estimator, and the steer by wire system is built. Simulation results show that 4WS vehicle can be handled easily and favorably by the driver’s command and possessed very well and special handling performance.

Key words: Follow up control, Four-wheel-steering vehicle, Optimal control, Vehicle handling, piezoelectric ultrasonic transducer, power ultrasonic, regular polygon structure, radial vibration