中文摘要：

基于Matlab/Simulink/dSPACE开发了四轮转向（4WS,Four-wheel Steering）车辆控制系统的硬件在环仿真（HILS,Hardware In the Loop Simulation）快速开发平台。在此平台的基础上,利用HILS技术实现了各控制算法鲁棒性能的评价和实际车辆执行电机死区的控制,结果表明基于μ综合鲁棒控制方法有较好的综合性能。因此设计开发的4WS硬件在环仿真开发平台为先进控制算法的分析与设计、开发和评价及ECU的开发提供理论指导和技术支持。

英文摘要：

A Hardware in the Loop Simulation（HILS） platform for four-wheel steering（4WS） based on Matlab/Simulink/dSPACE was developed,which could realtimely adjust the control parameters and measure the different inputs and response.With the HILS platform,the robustness and other performances for different control arithmetics were compared and operating motor deadtime for real vehicle was controlled.The results show that the μ-synthesis robust controller has better general performance.So the platform provides the theory direction and the technology support for analysis,design,development and estimate of advanced control arithmetic and design of ECU.