关键词: 四轮转向；滑模控制；转向控制策略；Simulink/Carsim 仿真

Abstract: For wire-controlled four-wheel steering vehicles, a fuzzy sliding mode four-wheel steering control method based on exponential approach rate is proposed. A fuzzy sliding mode control strategy is designed that takes the steering wheel angle of the vehicle as the system input, and the steering angle of the front and rear wheels of the vehicle as the output. By tracking the preset ideal steering state of the two-degree-of-freedom vehicle, the actual steering state approaches the ideal steering state. By designing a fuzzy controller, the chattering phenomenon in the sliding mode control process is reduced. Finally, the consistency and robustness of the sliding mode control effect are verified through three different working conditions. The results show that the control method has good transient response characteristics and can ensure that the vehicle running state does not occur under a certain limit of interference variety.

Key words: Four-wheel steering; Sliding mode control; Steering control strategy; Simulink/Carsim simulation