本文研究侧偏角有约束条件下，汽车四轮转向控制系统的设计问题。
Four wheels steering control for vehicle with constraints on side slip Angle is studied in this paper.
利用拉格朗日方程，建立了四轮转向车辆的非线性三自由度动力学模型。
The Lagranges equation is used and a nonlinear 3 freedom degrees dynamics model for four-wheel-steering vehicle is built.
四轮转向试验平台的研究为进一步开发四轮转向车辆控制器奠定了基础。
The study of the 4WS test plat lays the foundation for developing the controller of the vehicle of the 4WS further.
运用ADAMS软件建立了新型四轮转向（4WS）汽车整车虚拟样机模型。
The virtual prototype model of a new type 4WS vehicle is created with ADAMS software.
为了改善传统四轮转向系统的不足，研究了四轮线控转向系统的横摆角速度反馈控制策略。
To improve the defects of traditional Four-Wheel-Steering system yaw rate feedback control strategy of Four-Wheel-Steer-by-Wire system was researched.
基于轮胎的立方非线性，结合汽车四轮转向的力学特性，建立汽车四轮转向的非线性模型。
Based on the cubic nonlinear of tire and the mechanical characteristic of 4ws, the nonlinear vehicle 4ws model was established.
基于DSP的四轮转向控制器应用研究，为进一步开发工程机械分布式控制系统奠定了基础。
Through the applications studies of FWS Controller based on DSP, lay the foundation of distributed control system of construction machinery study.
但是传统的四轮转向控制系统大多建立在经典控制理论的基础上，对实际车辆很难得到满意的控制效果。
Usually four-wheel steering systems are based on classic cybernetics, so they can not really control the vehicle perfectly.
针对机-电-液复合结构的四轮转向平台具有非线性、快时变的特点，提出了模糊自适应PID控制策略。
A fuzzy adaptive PID controller was proposed to be used in a four wheel steering platform.
四轮转向方面首先论述了比例四轮转向、质心侧偏角补偿和可调节的四轮转向等几种基本型式的理论基础。
Next, the theoretical, bases of proportional four-wheel steering, roll compensation and regulated four-wheel steering are introduced.
理论分析与仿真试验表明，悬架与四轮转向综合控制，能够对车辆的平顺性和操纵稳定性同时产生积极的影响。
The theory analysis and simulation test indicate that the integrated control of suspension and 4WS can make positive influence on handling and ride comfort of vehicle.
将横摆力矩控制(dyc)与四轮转向(4ws)系统相结合，建立侧偏角和横摆角速度具有最佳输出响应的车辆理想模型。
A desirable vehicle model with the best performance of side slip Angle and yaw rate is established through connecting direct yaw moment control (DYC) with four wheel steering (4ws) system.
结果表明，较之二轮转向汽车，四轮转向汽车能大幅度的提高汽车对方向盘输入的动态响应特性，具有更好的机动性能和稳定性能。
And the results show that four-wheel steering vehicle can improve the dynamic responses to the same steering input. And it has far better handling stability than two-wheel steering vehicle.
从四轮转向汽车的控制角度出发，分别建立了考虑侧风作用的二自由度和三自由度汽车动力学模型，并对其转向响应特性进行了分析。
In the perspective of Four-Wheel-Steering control, 2-dof and 3-dof vehicle dynamic model considering crosswind is established respectively, and vehicle steering response characteristic is analyzed.
基于预瞄驾驶员模型，针对确定性汽车模型，探讨了四轮转向汽车在一类复杂路面上行驶过程中后轮的最优转向控制规律及整车转向特性。
The optimal control laws of 4WS on the complex typical path are studied using driver model of preview follower method based on the certain vehicle model considering roll, yaw and lateral motions.
基于预瞄驾驶员模型，针对确定性汽车模型，探讨了四轮转向汽车在一类复杂路面上行驶过程中后轮的最优转向控制规律及整车转向特性。
The optimal control laws of 4WS on the complex typical path are studied using driver model of preview follower method based on the certain vehicle model considering roll, yaw and lateral motions.
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