汽车底盘系统分层式协调控制及有关概要.pdfVIP

维普资讯 学兔兔 第44卷第2期 机 械 工 程 学 报 Vol_44 No．2 2008年 2月 CHINESE JOURNAL OF MECHANICAL ENG INEERING Feb． 2008 汽车底盘系统分层式协调控制木 初长宝 陈无畏 (合肥工业大学机械与汽车工程学院 合肥 230009) 摘要：将汽车底盘控制系统分成上层与下层控制部分进行分层式协调控制。下层控制器为悬架、转向和制动系统三个单独的 控制器，用以执行各子系统的控制任务，实现各自的性能指标；上层协调器主要接受来自下层控制器的决策信息，对其进行 整体协调分析，并及时修改下层控制的决策，从实现整车综合性能最优的目标出发来执行协调优化任务。仿真及试验结果表 明，采用分层式协调控制策略对汽车底盘系统进行控制，能够很好地改善整车的平顺性、安全性及操纵稳定性，控制效果要 优于采用单独的子控制器的控制效果。 关键词：悬架 转向 制动 协调控制 中图分类号：U463 Vehicle Chassis System Based on Layered Coordinated Control CHU Changbao CHEN Wuwei (School of Mechanical and Automotive Engineering，Hefei University of Technology,Hefei 230009) Abstract：A layered coordinated control strategy for chassis control system which is divided into upper and bottom layer control parts is adopted．The bottom controllers are 3 separate controllers，i…e suspension，steering and braking system controllers．The controllers are used to carry out different control tasks and achieve performance indexes of subsystems．Based on layered coordinated control strategy,the upper coordinated controller is used to receive decision—making information coming from bottom controllers and modify the decision—making of bottom controllers，aiming at improving whole vehicle synthesis perform ance．The simulation and experimen- tation results show that chassis system control based on layered coordinated contro1 achieves better performances of ride comfort， security and maneuver stabilization． Key words：Suspension Steering Braking Coordinated control 对于两系统协调控制的研究相对较少，如文献[7]对 0 前言 悬架与制动系统进行