中文摘要：

考虑汽车电动助力转向系统（Electric power steering, EPS）与电子稳定程序（Electronic stability program, ESP）系统之间耦合动力学关系，在整车7自由度模型基础上建立高阶非线性动力学模型。分别对两系统设计局部最优控制器，对 EPS 设计为自回正力矩补偿的模糊自适应比例积分微分（Proportion integration differentiation, PID）控制器，同时引入助力转矩变化率负反馈实现阻尼控制，对 ESP 设计为变加权值的滑模控制器。为进一步提高整车全局控制性能，基于功能分配原理对两子系统控制输出量进行功能协调分配，采用模糊控制策略对EPS与ESP的功能分配系数进行优化选择。基于Matlab/Simulink软件，对此功能分配协调控制系统进行仿真，并采用硬件在环系统构建功能分配的两系统试验平台，进行道路模拟试验。结果表明，提出的控制策略较子系统单独控制、不加控制时均能够取得更好的效果，明显改善汽车行驶时的操纵安全性和侧向稳定性。

英文摘要：

Considering the coupled dynamics between electric power steering（EPS） and electronic stability program（ESP）, the high-order and nonlinear dynamic model is built based on a 7 DOF vehicle model. The self-aligning moment compensation of fuzzy adaptive proportion integration differentiation（PID） controller of EPS is adopted and drawing into negative feedback of the change rate of power torque achieve damping control, variable weighted value sliding mode controller is used for ESP. In order to further improve the vehicle whole-region optimal control performance, the two subsystems’ control functions are distributed based on the function allocation to decide the function allocation coefficient by fuzzy control. The considerable simulations are carried out for the coordinated control system, and also the function allocation based on the two subsystems’ test platform is established by utilizing hardware-in-loop in order to carry out the vehicle road test. The results show that the full-vehicle coordinated system based on the proposed control strategy can obtain the best control performances than the uncoordinated control system and uncontrolled system and improve the performance of manipulation and lateral stability of the vehicle obviously.