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中文摘要：
运用多体理论建立了电动助力转向系统和主动悬架系统的模型，以及整车动力学模型。根据车辆行驶过程中转向、悬架和制动系统之间的耦合关系，设计了中央控制器，对各子系统进行协调控制。针对EPS、ASS和ABS各子系统分别采用了PD控制、PID控制和滑模变结构控制，构成底层分级综合控制系统。仿真结果表明：将多体模型运用在汽车底盘集成控制研究中是方便可行的；采用分级式综合控制比单独控制，能更有效地改善整车的综合性能。
英文摘要：
The models for electric power steering system and active suspension system and vehicle dynamics model are set up based on muhibody theory. According to the coupling relationships among steering, suspension and braking systems, a central controller is designed for conducting coordinated control over subsystems. PD control, PID control and sliding mode variable structure control （SMVSC） are adopted respectively for EPS, ASS and ABS subsystems. Thus a hierarchical integrated chassis control system is built. The results of simulation show that applying multibody model to the research on integrated control of vehicle chassis is convenient and feasible, and the hierarchical integrated control presented can more effectively improve the overall performance of vehicle than separate control.
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