中文摘要：

针对直接横摆力矩控制（DYC）系统控制方法,建立了车辆侧向动力学的线性二自由度状态空间模型,设计了DYC系统的LQG/LTR鲁棒控制器.建立了能反映车辆转向工况基本动力学性质的七自由度车辆系统动力学模型,在MATLAB/Simulink环境下对开发的LQG/LTR控制器进行了系统仿真分析.仿真结果验证了该控制方法的可行性和有效性,不同路面附着系数与不同转向工况的控制效果表明,设计的控制器具有较强的鲁棒性和自适应性.

英文摘要：

In view of the control methods of Direct Yaw-Moment Control（DYC） system,a LQG/LTR robust controller is designed and a linear two-freedom-degree state-space model of vehicle lateral dynamics is established for applying this method.The LQG/LTR controller is simulated in MATLAB/Simulink with the sevenfreedom-degree vehicle system dynamic model.The simulation results validate the feasibility and validity of control algorithm.The control effects of different road adhesion coefficients and different steer characteristic vehicles indicate that the LQG/LTR controller has better robustness and self-adaptability.