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中文摘要：
将汽车底盘控制系统分成上层与下层控制部分进行分层式协调控制。下层控制器为悬架、转向和制动系统三个单独的控制器，用以执行各子系统的控制任务，实现各自的性能指标；上层协调器主要接受来自下层控制器的决策信息，对其进行整体协调分析，并及时修改下层控制的决策，从实现整车综合性能最优的目标出发来执行协调优化任务。仿真及试验结果表明，采用分层式协调控制策略对汽车底盘系统进行控制，能够很好地改善整车的平顺性、安全性及操纵稳定性，控制效果要优于采用单独的子控制器的控制效果。
英文摘要：
A layered coordinated control strategy for chassis control system which is divided into upper and bottom layer control parts is adopted. The bottom controllers are 3 separate controllers, i.e., suspension, steering and braking system controllers. The controllers are used to carry out different control tasks and achieve performance indexes of subsystems. Based on layered coordinated control strategy, the upper coordinated controller is used to receive decision-making information coming from bottom controllers and modify the decision-making of bottom controllers, aiming at improving whole vehicle synthesis performance. The simulation and experimentation results show that chassis system control based on layered coordinated control achieves better performances of ride comfort, security and maneuver stabilization.
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