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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers, Part D. Journal of Automobile Engineering >Study on vehicle chassis control integration based on a main-loop-inner-loop design approach
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Study on vehicle chassis control integration based on a main-loop-inner-loop design approach

机译：基于主回路-内回路设计方法的汽车底盘控制集成研究

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摘要

In this paper, vehicle chassis control integration has been investigated on the basis of a separated main-loop control and an optimal force distribution inner-loop design structure, as the tyre is conceptually treated as a special kind of actuator. In order to study the characteristics of the particular subsystems, i.e. longitudinal slip control of the tyres and active wheel steering during control integration, as well as the effects on vehicle-handling performance when the above two subsystems are integrated, a standard H{sub}∞ control technique is used for the main-loop design, which focuses on vehicle motion control only and a linear quadratic minimization approach is applied for achieving the optimal distribution of vehicle motion forces and moments between the wheels. Furthermore, the rotational dynamics of the wheels are considered when the resultant slip ratio control is being transformed to the actual wheel control torque that can be handled by braking and engine management systems. Simulation results and analysis indicate that both the above two subsystems have indispensable roles in the framework of integration; meanwhile a remarkable improvement in the handling performance and a large stability margin can be expected from chassis control integration and the above control structure.
机译：在本文中，由于轮胎在概念上被视为一种特殊的执行器，因此在分离的主回路控制和最佳力分布内回路设计结构的基础上研究了车辆底盘控制集成。为了研究特定子系统的特性，即在控制集成过程中轮胎的纵向滑动控制和主动车轮转向，以及在将上述两个子系统集成在一起时对车辆操纵性能的影响，标准H {sub} ∞控制技术用于主回路设计，该技术仅专注于车辆运动控制，并且采用线性二次最小化方法来实现车辆运动力和车轮之间力矩的最佳分配。此外，当将总滑移率控制转换为可以由制动和发动机管理系统处理的实际车轮控制扭矩时，将考虑车轮的旋转动力学。仿真结果和分析表明，以上两个子系统在集成框架中均具有不可或缺的作用。同时，通过底盘控制集成和上述控制结构，可以期待操纵性能的显着改善和较大的稳定性余量。

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