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中文摘要：
建立了悬架系统7自由度的主动控制模型，设计了悬架系统的最优控制器，运用分离定理，得到随机状态反馈调节器的最优控制率。建立了主动前轮转向系统的转向模型，并设计了可实时跟踪目标横摆角速度的滑模变结构控制器。为改善转向工况下车辆的平顺性，在2个子系统的基础上设计了一个上层协调控制器。协调控制器根据车辆传感器信息，实时地输入给转向和悬架子系统不同的跟踪目标和控制参数，以使车辆获得最好的性能。仿真结果表明：所设计的控制器能够较好地提高整车的平顺性和操纵稳定性。
英文摘要：
Seven degrees of freedom active control model was set up for suspension system, the optimal controller was designed, and the optimal control rate of the stochastic state feedback regulator was obtained by using the separation theorem. The slide mode controller （SMC） which could track the target yaw rate was designed after setting up the mode of the active front steering system. In order to improve the vehicle ride comfort on steering condition, one upper coordinated controller was designed. Based on the vehicle sensors, the upper coordinated controller has been real-timely inputted into the steering and suspension system different tracking targets and controls parameters. The simulation results showed that the controllers could preferably improve the ride comfort and the maneuver stabilization of the vehicle.
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