兼顾容错的线控4WS系统动态LQR控制OA

To improve the steering-by-wire vehicles'handling stability and active safety in both normal and abnormal driving conditions,this paper developed a fault-tolerant dynamic LQR control strategy for the steering-by-wire four-wheel steering(4WS)system.The strategy aims to track ideal yaw rate and center of gravity deflection angle,utilizing optimal control theory and phase plane analysis methods.By dynamically adjusting weighting coefficients between ideal and actual deviations,it achieves coordinated optimization of vehicle handling and stability.Additionally,a fault-tolerant control mechanism was developed for front or rear wheel steering failures to mitigate safety risks caused by actuator malfunctions.Simulation results demonstrate under normal steering conditions,it enhances trajectory tracking accuracy by over 18.8％,effectively reduces center of gravity deflection angle,and exhibits superior yaw rate response compared to traditional four-wheel steering control methods.When steering system failures occur,the vehicle maintains straight-line driving stability and basic steering capability,enhancing the driving safety.