中文摘要：

建立整车8自由度模型和汽车电子稳定控制程序（Electronic stability program,ESP）与主动悬架系统（Active suspension system,ASS）的分层协调控制模型,对ESP应用基于状态观测器的自适应模糊控制,对ASS采用随机线性最优控制,并进行上层控制器的设计,上层控制器通过线性权函数输出下层控制器的加权值,从而实现协调控制的目的。基于Matlab/Simulink软件,在阶跃和双移线两种工况下进行仿真研究。仿真结果证明,所建立的分层协调控制模型与控制策略不仅能明显改善汽车的行驶稳定性和操纵稳定性,同时可提高车辆的乘坐舒适性。在Labview系统中建立上层协调控制器、ESP控制器和车辆模型,自行开发ASS并安装上车,结合ESP的执行机构进行硬件在环仿真。其结果与Matlab仿真结果基本一致。

英文摘要：

Layered coordinated control models of automotive electronic stability program（ESP） and active suspension system（ASS） are built and adaptive fuzzy control of ESP is adopted, for which the controller is designed on the basis of state observer. The controller of ASS is designed by using optimal control theory of stochastic linear quadratic, and layered coordinated controller is designed. The coordinated controller calculates the weighted values of lower controllers by linear weight function. Matlab/Simulink simulation results indicate that the layered coordinated control strategy can improve the driving stability and comfort well. Coordinated controller, ESP controller and vehicle model are built in Labview system. Combined with ASS which is developed independently and actuator of ESP, hardware-in-the-loop simulation is carried out. The results are consistent with Matlab simulation results.