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中文摘要：
针对基于横向和垂向动力学的电动助力转向（EPS）与主动悬架（ASS）集成系统是一个多输人多输出非线性系统的特点，设计了一种基于干扰抑制指标的H∞控制策略。首先将非线性部分看成模型的摄动，对不确定性进行频率辨识；然后根据控制目标，选择相应的加权函数和不确定性界函数，建立增广被控对象矩阵，将鲁棒性能控制问题转化为标准的H∞控制问题；最后在Matlab环境下进行了仿真计算。仿真结果表明，该集成控制方法是有效的，能够使汽车转向行驶时的整车综合性能得到提高。
英文摘要：
This paper addresses the problems of integrated control of electrical power steering （EPS） and active suspension system （ASS）. Firstly, the nonlinear dynamic characteristics of an integrated EPS/ASS system are analyzed based on lateral and vertical dynamics. Secondly, according to disturbing restraining index, the H∞ control strategy is presented explicitly, the nonlinear part is regarded as the perturbation of the system model, and frequency identification of the uncertainty is carried out. Thirdly, the weighting function and boundary function of the uncertainty are chosen by controlled objective, and then the extended controlled objective matrix is established. Thus, the standard H∞ robust control algorithm is obtained from robust performance control. By using Matlab software, the simulations are carried out. The results show that the integrated control of EPS/ASS is effective, and the synthetical performance of the full vehicle is improved greatly under steering situation.
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