Research on the Joint Control Strategy of Four-Wheel Independent Steering of Ship Cleaning Equipment

This paper proposes a joint feedback control strategy based on yaw rate and mass center sideslip angle for the fourwheel independent drive ship washing equipment. Firstly, the dynamic model of the four-wheel independent steering vehicle is established. By designing the yaw rate observer and the mass center sideslip angle observer for the four-wheel independent steering vehicle, the corresponding parameters of the vehicle can be obtained in the absence of corresponding sensors. Based on the designed observer, on the basis of the steering model with proportional front and rear wheel angles, the steering control model introducing yaw rate feedback and the joint feedback control model based on yaw rate and center of mass sideslip angle are established respectively, and the proposed joint feedback control strategy is verified by Matlab/Simulink. The simulation results show that the proposed control strategy can effectively reduce the center of mass sideslip angle of the vehicle and improve the stability of vehicle steering without affecting the steering response of the vehicle.