Integrated control of active suspension system and electronic stability programme using hierarchical control strategy: theory and experiment
Integrated control of active suspension system and electronic stability programme using hierarchical control strategy: theory and experiment
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DOI：
10.1080/00423111003602384
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发表时间：
2011-02
影响因子：
3.6
通讯作者：
Hansong Xiao;Wuwei Chen;Huihui Zhou;J. Zu
中科院分区：
文献类型：
--
作者：
Hansong Xiao;Wuwei Chen;Huihui Zhou;J. Zu
车辆动力学综合控制是近二十年来车辆动力学与控制领域的一个重要研究课题。集成车辆控制的目的是通过在传感器信息、硬件和控制策略的使用中创造协同效应来提高车辆的整体性能，包括操纵性、稳定性和舒适性。提出了一种主动悬架系统（ASS）和电子稳定程序（ESP）集成控制的两层递阶控制结构。上层控制器用于协调ASS和ESP之间的交互，下层控制器分别独立开发，实现各自的局部控制目标。进行了仿真研究和半实物实验研究。仿真结果表明，所提出的分层控制系统是能够改善车辆的多个性能指标，包括乘坐舒适性和横向稳定性，与非集成控制系统相比。实验结果验证了递阶控制系统设计的有效性。
Integrated vehicle dynamics control has been an important research topic in the area of vehicle dynamics and control over the past two decades. The aim of integrated vehicle control is to improve the overall vehicle performance including handling, stability, and comfort through creating synergies in the use of sensor information, hardware, and control strategies. This paper proposes a two-layer hierarchical control architecture for integrated control of the active suspension system (ASS) and the electronic stability programme (ESP). The upper-layer controller is designed to coordinate the interactions between the ASS and the ESP. While in the lower layer, the two controllers including the ASS and the ESP are developed independently to achieve their local control objectives. Both a simulation investigation and a hardware-in-the-loop experimental study are performed. Simulation results demonstrate that the proposed hierarchical control system is able to improve the multiple vehicle performance indices including both the ride comfort and the lateral stability, compared with the non-integrated control system. Moreover, the experimental results verify the effectiveness of the design of the hierarchical control system.