Dynamics Modeling of Active Full-Wheel Steering Vehicle Based on Simulink
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Because of the complexity of vehicle steering motion, the classical linear two degrees of freedom lateral dynamics model of vehicle has been unable to meet well the research needs of the active steering control system. In order to make better use of the chassis control technology to improve the safety when vehicle turning and the vehicle-handling stability at high speeds, it is necessary to establish a more complex new dynamic model which not only fully reflect the steering characteristics of the vehicle, but also meet the needs of the control system design. In this paper, the active four-wheel steering vehicle is regarded as the research object; the modeling method of a eight degrees of freedom nonlinear dynamics model of this active four-wheel steering vehicle is discussed based on the comprehensive analysis of kinetic and kinematic; the differential equations for each degree of freedom of motion are derived step by step; and the modeling and solving methods are also illustrated by means of the Simulink software. In addition, the model accuracy is also verified effectively by contrast with ADAMS vehicle multi-body dynamics model. Verification results show that the established model has a relatively high accuracy and can be applied to the research and analysis for different active chassis control systems of the vehicle.
KeywordsFour-wheel steering Vehicle lateral dynamics Active chassis control Dynamical modeling MATLAB/Simulink Numerical simulation
This research was supported by the Key Project of Tianjin Natural Science Foundation of China (Grant No.16JCZDJC38200).
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