Abstract: Based on the four-wheel steering technology and fuzzy control theory，a new control strategy for four wheel steering vehicle，namely the combination of proportional front feed control and fuzzy back feed control was put forward． With the help of ADAMS /Car，a multi-body dynamics model of four-wheel steering vehicle was built and a controller was designed in Matlab /Simulink． The co-simulation of the contro1 system and the vehicle model was realized through data exchanging between ADAMS and Matlab; dynamic response of the vehicle with four-wheel steering under typical driving conditions was simulated． Simulation results demonstrated that the rear wheel steering controller could accurately follow the ideal turning model，therefore the handling stability of vehicle could be improved．

Key words: four wheel steering, multi-body system dynamics, front feed control, fuzzy control, co-simulation

摘要： 基于四轮转向技术和模糊控制理论，提出一种新的四轮转向汽车后轮转角控制策略，即比例前馈加模糊反 馈。在ADAMS/car模块中建立四轮转向整车多体动力学模型，并基于Matlab/Simulink依据控制策略设计了四轮 转向汽车控制系统，由ADAMS与Matlab的数据接口实现了控制系统与整车动力学模型联合，对四轮转向汽车进行 典型行驶工况的联合仿真试验。仿真结果表明:所设计的后轮转角控制器能使车辆很好地跟随理想转向模型，提 高了车辆的操纵稳定性。

关键词: 四轮转向, 多体系统动力学, 前馈控制, 模糊控制, 联合仿真