Application And Research Based On Roubust Control Method Of Four Wheel Steering System

Four Wheel Steering (referred to 4WS) control technology is a kind of advanced technology compared with the traditional Two Wheel Steering technology, which can significantly improve the automobile steering characteristics, can improve the stability while high speed and maneuverability while low speed cornering and parking.The paper proposed a kind of Four Wheel Steering Robust control system with three degrees of freedom whose front wheel satisfy steering trapezoidal mechanism, rear wheel steering are respectively controlled by two motors which based on analysis and research on the result of predecessors. Make the control effect finally reach to a stable manipulate state that Four Wheel rotate at the same time when steering and suppress the interference to a minimum. Use MATLAB software to do simulation and analysis, digital simulation result show that using Robust Control method can meet the optimal control request and get better control effect when Four Wheel Steering vehicle work under different conditions. In order to verify the feasibility of the control program and control effects of the design in this paper, we create a Four Wheel Steering model car instead of real vehicle in test, and designed hardware circuit of the model car'control system and select the DSP as a core devices of thee digital controller, make use of motor driver chip to control the DC motor rotation to achieve the running the of Four Wheel Steering model car, at the same time apply the CC1110FX radio frequency chip to fulfill the functions of wireless control. Finally complete the design of software by the application of the CC2000 control software.