The Lateral Dynamic Characteristics And Control Of Four-wheel Steering Automobile

In view of the lack of numerical study on the control stability of four-wheel steering(4WS)vehicle,this paper focuses on the numerical calculation of four-wheel steering(4WS)vehicle and effectively controls its system.According to the four-wheel steering(4 ws)vehicle dynamic model of two degree of freedom,obtained the jacobian matrix of the system.Using Matlab software programming,achieve the jacobian matrix eigenvalue and eigenvector.The Hurwitz algebraic criterion,Hopf bifurcation of 4 ws system was calculated,the bifurcation point.According to the center manifold theory,through the substitution method,the five dimensions of 4 ws vehicle systems approximate to two-dimensional.Bifurcation stability index based on the center manifold theory,calculate the positive and negative value,and determine the type of the original system Hopf bifurcation.Through Matlab software programming,simulation of transverse speed,front wheel steering Angle motion state,the lateral displacement and front wheel steering Angle phase diagram.The results show that 4 ws vehicle under certain parameter combinations appeared to the nature of the automatic swing.According to routh-hurwitz criterion,the linear gain coefficient is obtained.Through the simulation of six-dimensional control system,the Hopf bifurcation characteristics of the system are improved.In conclusion,this paper focuses on the study and analysis of the transverse dynamic characteristics of 4WS and its control technology,laying a foundation for the in-depth study of vehicle four-wheel steering technology.