主动前轮转向客车的操纵稳定性仿真分析

建立某大型客车的含侧向、横摆及侧倾三自由度动力学模型，通过方向盘角阶跃转向仿真结果和试验数据的比较，验证了仿真分析的准确性。采用横摆角速度跟踪主动前轮转向控制策略，结合比例积分控制方法，在考虑作动器动态特性和前轮转角饱和特性的基础上，对主动前轮转向控制前后的车辆进行直线行驶下的侧向风扰动和湿滑路面急转弯情况下的仿真对比分析。结果表明，主动前轮转向控制后的车辆其操纵稳定性和行车安全性都有较大的提高。

Simulation and Analysis about Coach Active Front-wheel Steering System on Handling and Stability

A large coach dynamics model with lateral, yaw and roll three freedoms is established. By the comparison between the simulation results and the test data under the steering wheel angle step input, the accuracy of the simu-lation model is verified. And the active front-wheel steering（AFS）yaw rate tracking control strategy is chosen. Com-bined with the proportional integral control method, the actuator dynamics and front wheel angle saturation are con-sidered. And the two situations of the coach under the lateral wind disturbance when driving on the straight line and cornering sharply on the slippery roads are simulated between the AFS controlled and uncontrolled systems. The re-sult shows that the handling stability and safety of the coach with AFS has been greatly improved.