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中文摘要：
采用分层协调控制策略，对汽车半主动悬架系统和防抱死制动系统进行了集成控制研究。分别设计了半主动悬架的底层控制器和防抱死制动的底层控制器及二者的上层协调控制器，底层控制器用来执行各子系统控制任务；上层协调控制器以实现整车性能最优为目标，对底层控制器进行相应的调整和修正。试验结果表明：采用分层式协调控制策略可较好地解决两系统间的矛盾，提高汽车在紧急制动过程中的稳定性和安全性，提升整车综合性能。
英文摘要：
An integrated control research on SASS and ABS adopting layered coordinated control was carried out. Controllers were designed separately with bottom and upper coordinated controllers. The bottom controllers including SASS and ABS were 2 separate controllers, which were used to carry out different control tasks of subsystems. The upper coordinated controller was used to make the necessary adjustments and amendments of bottom controllers,aiming to improve whole vehicle synthesis performance. The experimental results show that layered coordinated control can coordinate contradiction between SASS and ABS,improve the stabilization and security of vehicle in emergency braking, enhance the overall performance of the vehicle.
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