中文摘要：

为衰减车辆行驶时受到的路面冲击，建立了人车路闭环系统数学模型，设计了电动助力转向（EPS）和主动前轮转向（AFS）集成控制算法，运用阻尼补偿控制和最优控制分别设计了电动助力转向和主动前轮转向子系统。在 MATLAB／Simulink 中的仿真结果表明，单独主动前轮转向控制不能衰减驾驶员把持力矩振动，单独电动助力转向阻尼控制对转向盘角速度振动和车辆横摆角速度振动衰减效果不佳，而集成系统可以很好地同时抑制驾驶员把持力矩振动、转向盘角速度振动和车辆横摆角速度振动，提高了驾驶舒适性、操纵稳定性和行驶安全性。

英文摘要：

This paper proposed an integrated control strategy to reduce the steering vibration stemmed from road impact .Human-vehicle-road closed loop model was established considering the influences of driver’s maneuver .The EPS subsystem was designed based on damping compensation control strategy and the AFS subsystem was built based on optimal control strategy .Simulation results demonstrate that the integrated system shows better overall capability to reduce the oscillation of steering torque ,steering speed and yaw rate ,compared with using EPS or AFS alone .Hence ,the driving comfort ,handling stability as well as driving safety are enhanced simultaneously .