中文摘要：

本文中为四轮线控转向、液压制动的分布式驱动电动汽车,设计了基于CAN总线的底盘综合控制系统。该系统包括整车控制器、4个车轮的驱动控制器、转向系统控制器和制动系统控制器。电动汽车的各控制器之间通过CAN总线进行通信,基于CAN2.0B协议制订了CAN网络的应用层协议。考虑电动汽车电磁干扰、温度变化和振动等因素的影响,设计了各控制器的硬件。建立了用于该电动汽车的伪逆控制分配算法。该算法除实现常规的控制量分配外,还可在控制系统出现故障或控制量饱和时实现控制再分配,提高了车辆的操纵稳定性。对所设计的控制系统进行仿真和实车验证,结果表明,该系统可有效地对执行机构的控制量进行常规分配和再分配,使电动汽车能很好地实现驾驶员的驾驶意图并维持车辆稳定。

英文摘要：

A comprehensive chassis control system based on CAN bus is designed for a distributed-drive e- lectric vehicle with four-wheel steering-by-wire and hydraulic brake in this paper. The control system consists of a vehicle controller, four wheel drive controllers, a steering system controller and a braking system controller. The controllers of electric vehicle communicate via CAN bus and the application layer protocol of CAN network is de- signed based on CAN 2.0B protocol. The hardware of controllers is designed with consideration of the effects of e- lectromagnetic interference, temperature changes, vibration and other factors of electric vehicle. A pseudo inverse control allocation algorithm for electric vehicle is created, which can not only fulfill routine control allocation, but also achieve control reallocation in the cases of control system faults and control input saturation, hence improving the controllability and stability of vehicle. The results of simulation and verification test show that the control system designed can effectively allocate and reallocate the control input of actuator and make electric vehicle well realize the intention of driver with stability of vehicle maintained.