基于多体模型的汽车底盘集成控制-车辆工程专业论文.docxVIP

ABSTRACTWith ABSTRACT With the development of technology,in order to improve the vehicle comfort，handling and active safety,a variety of dynamic control systems such躯electric power steering system(EPS)，active suspension system(ASS)anti—lock braking system(ABS)have successively applied to the modem car．In the integrated control design of these systems，two important issues the setting up of the model and determination of the control strategy become the research hotspot which the experts and scholars study in recent years． The paper described the research significance of the integrated control of chassis，discussed the necessity of it；introduced the of control structures，algorithms and models；the research status ofthe integrated control Was summed up． The EPS and full vehicle equipped with ASS multibody models were established by the Cartesian coordinates method，and applied to the control studies．The retumabiiity control were carried out which making of the steering load characteristics which well reflected by the EPS muitibody model．The simulation results verify the control effect． Based on the motion coupling relationships between steering and suspension systems，the centralized and hierarchical-supervised integrated controls of EPS and ASS which using of multibody models were studied．In the centralized integrated control，taking into account there many constraints and uncertainties in actual vehicle driving course，the MPC control strategy Was designed；in the hierarchical—supervised coordination control，based On the full vehicle space multibody dynamics model，the sub—controller and the upper controller which supervises and coordinates the subsystems were designed．At the same time，applying of multibody dynamics models and the hierarchical—supervised coordination strategy，according to the motion coupling relationships between steering and braking systems，船well嬲steering,suspension and braking systems，respectively,the hierarchical-supervised coordination control of EPS／ABS