中文摘要：

汽车底盘系统是包含相互非线性耦合的悬架,转向,制动等子系统的复杂系统,如何采用控制方法构建底盘一体化集成控制系统以尽可能地提升底盘系统全局性能,是目前研究的难点。首先建立汽车底盘整车非线性动力学模型,操纵动力学模型,制动过程动力学模型,轮胎和路面模型。然后针对底盘悬架,转向和制动各子系统,分别设计非线性H_∞控制器,直接横摆力矩PID控制器和滑模变结构控制器,以保证各子系统控制性能局部最优。为了解决在不同工况下不同子系统间动力学耦合带来的控制性能冲突,采用模糊自整定控制方法设计上层协调控制器,调整悬架子系统控制器各输出权重,达到改善汽车底盘全局控制性能的目的。最后在四种不同工况下,对模糊自整定协调控制,子系统单独控制,未控制构成的底盘系统进行大量的仿真研究。通过仿真结果对比分析表明,采用模糊自整定方法的协调控制系统可进一步改善汽车底盘全局控制性能。

英文摘要：

Vehicle chassis system is complex for containing suspension, steering and braking subsystems, which have the nonlinear dynamics coupling among them. How to adopt the appropriate control method to build the chassis integrated control sys- tem and improve the global performance as far as possible, is the difficulty o[ the current research. The vehicle chassis nonlinear dynamics model, handling dynamics model, braking process dynamics model, tire and road models are firstly built. Then the nonlinear Ha controller, direct yaw moment PID controller and sliding mode variable structure controller are separately designed for chassis suspension, steering and braking subsystems, to ensure the subsystems with local optimal control per- formance. To eliminate the control performances＇ conflict from different subsystem＇ dynamics coupling under different driving conditions, the fuzzy self-tuning control method is adopted for the upper-layer coordinated controller design, to adjust the suspension subsystem control outputs＇ weights. Finally, under four driving condi- tions, the considerable simulations are carried out for the chassis system constituted by fuzzy self-tuning coordinated control, individual control of subsystems and no con- trol. The results are analyzed and demonstrate that the coordinated control system based on fuzzy self-tuning control could further improve vehicle chassis global control performance.