中文摘要：

为了分析线性控制算法在非线性模型中的控制效果，建立四轴全轮转向车辆的线性二自由度模型，采用零质心侧偏角比例前馈及前馈+横摆角速度反馈的多桥转向控制算法，在Matlab/Simulink及TruckSim中建立联合仿真模型，对所设计的控制算法进行对比仿真验证。结果表明：多桥转向比例前馈控制及前馈+横摆角速度反馈控制均能够在低速下保持车辆质心侧偏角基本为零，但是比例前馈在高速时控制效果并不理想。低速时比例前馈控制能够最大限度减小汽车转弯半径，高速时前馈+横摆角速度反馈控制能够减小车身横摆角速度，提高多轴车辆抗干扰能力。

英文摘要：

In order to analyze the control effect of linear control algorithm in nonlinear model,a linear2DOF model for the four-axle all-wheel steering vehicle was built,by using the zero sideslip angle proportion feed-forward and feed-forward+yaw rate feedback control algorithm,the joint simulation model was established in Matlab/Simulink and TruckSim,and the simulation results were compared.The results show that the vehicle can maintain zero sideslip angle at low speed,but the control effect of the proportional feed-forward control is not ideal at high speed.The proportional feed-forward control can minimize the turning radius of the vehicle at low speed,the feed-forward and yaw rate feedback control can reduce the yaw rate of the vehicle and improve the anti-jamming ability of the multi axle vehicle at high speed.