车辆底盘集成控制研究

基于模型预测控制理论，从提高车辆极限工况稳定性角度，研究车辆纵向和侧向运动的水平集成控制及纵向、侧向和垂向的全局集成控制.确定了分层集成控制结构，设计了转向/制动模型预测控制器和主动悬架控制器.采用单轮规则制动分配法，实现了车辆底盘转向/制动的水平集成控制和转向/制动/悬架的全局集成控制，并通过仿真实验对算法进行验证.结果表明：集成控制能有效提高车辆极限工况的稳定性和主动安全性.

Study on Vehicle Chassis Integrated Control

For enhancing the vehicle stability in the extreme conditions, the vehicle horizontal integrated control of longitudinal and lateral movement ant the overall integrated control of longitudinal, lateral and vertical improvement were studied based on the model predictive control theory. The hierarchical integrated control structure was determined. The steering/braking model predictive controller and active suspension controller were disigned. The single wheel braking force allocation method was used. It achieves the steering/braking horizontal integrated control and the steering/braking/suspension overall integrated control. The simulation test was used to verify the algorithm. The result shows that the integrated control can enhance the vehicle stability and active safety effectively in the extreme conditions.