Global integrated control of vehicle suspension and chassis key subsystems
Global integrated control of vehicle suspension and chassis key subsystems
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DOI：
10.1243/09544070jauto1104
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发表时间：
2010-04
期刊：
影响因子：
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通讯作者：
S.-B. Lu;S.B. Choi;Y.-N. Li;M. Seong;J.-S. Han
中科院分区：
文献类型：
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作者：
S.-B. Lu;S.B. Choi;Y.-N. Li;M. Seong;J.-S. Han
摘要本文提出了一种新的集成控制方法，用于车辆底盘子系统，包括受控悬架、制动系统和转向系统。为了更好地反映实际车辆，建立了包含纵向、横向和垂向动力学的复杂非线性整车模型，并与修正的非线性轮胎模型相结合。在此基础上，提出了一种面向主目标的分层控制策略，对底盘各子系统进行全局集成控制，以提高车辆在不同工况下的性能。所提出的分层策略由两层组成。上层是系统监控层，用于识别车辆状态，并根据其有效区域和检测到的系统状态信号为每个可控子系统分配任务。较低层是与底盘子系统的致动器接口的执行层。在这一层中，采用模糊控制和积分滑模控制方法，设计了不同的控制器，可以切换到特定的车辆状态。通过计算机仿真验证了所提出的控制策略的有效性，显示了三个典型的驾驶条件下的结果。
Abstract This paper presents a new integrated control methodology for vehicle chassis subsystems associated with controlled suspension, braking system, and steering systems. In order to reflect the practical vehicle better, a non-linear complicated full-vehicle model which includes longitudinal, lateral, and vertical dynamics is established and combined with the modified non-linear tyre model. Then, a main objective-oriented hierarchical control strategy is proposed for global integrated control of chassis subsystems to improve the vehicle performance during different kinds of driving condition. The proposed hierarchical strategy consists of two layers. The upper layer is a system supervisory layer which is used to identify the vehicle states and to assign the task for each controllable subsystem based on their effective regions and the detected state signals of the system. The lower layer is the executive layer interfaced to actuators of the chassis subsystem. In this layer, different controllers which can be switched to a special vehicle state are designed by using fuzzy control and integral sliding-mode control methods. The effectiveness of the proposed control strategy is verified via computer simulations, showing the results of three typical driving conditions.