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针对汽车主动底盘复杂大系统的特点,运用分布式智能递阶控制策略建立主动底盘分层协调控制结构。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;上层控制主要对车辆行驶状态进行判断,并结合车辆底盘协调控制逻辑及下层控制器反馈信息特征,对各控制子系统进行整体协调和控制决策。仿真结果表明,相对于汽车底盘系统单独子系统控制,采用分层式协调控制策略能更好地改善整车综合使用性能。
Aiming at the characteristics of the complex system of active chassis of a car, an active chassis hierarchical coordinated control structure is established by distributed intelligent hierarchical control strategy. The lower controller is the suspension, steering and braking system three separate controller to perform the control tasks of each subsystem to achieve their respective performance indicators; upper control of the vehicle mainly to determine the state of the vehicle, combined with the vehicle chassis coordination Control logic and feedback characteristics of the lower controller, the overall control of the control subsystem and control decisions. The simulation results show that the hierarchical coordination control strategy can improve the overall performance of the vehicle better than the single subsystem control of the automobile chassis system.