【作者】 徐娟；

【导师】 陈无畏； 王启瑞；

【作者基本信息】 合肥工业大学 ， 车辆工程， 2005， 硕士

【摘要】 本文根据汽车系统动力学的基本原理,建立了基于横向和垂向动力学的非线性整车模型,并在此模型的基础上研究汽车电动助力转向系统与主动悬架系统的集成控制问题。考虑到模型中车身姿态存在耦合,进而控制通道也存在耦合作用,运用解耦控制理论对系统进行输入输出通道解耦,为了消除路面输入对系统造成的干扰作用,在原控制通道解耦的基础上加入了噪声解耦控制环节,在消除路面干扰方面起到了显著作用。接着,为了提高系统响应的瞬态性能指标,在原先解耦控制器的基础上又增加了PD控制器对控制信号进行调整。最后,介绍了整车集成系统控制器的基本原理以及试验情况,并详细说明了软件设计流程,通过实车试验验证了集成控制系统的有效性。更多还原

【Abstract】 A full car nonlinear model based on horizontal and vertical dynamics is set up according to the principle of Vehicle System Dynamics, based on this mode, the research concerning the integrated control of EPS and ASS is carried out. Considering the coupling of the motion in the nonlinear model of whole car, therefore, there is couple influence in control channels, Decoupling Control theory is applied to decouple the system IO channels, in addition, in order to eliminate the disturbance of road input, a noise Decoupling Control section is added based on the original channels decoupling which plays a vital role in eliminating road disturbance. Also, in order to improve the transient performance target, a PD controller used to adjust the control signal is added based on the former decoupling controller. Finally, the full car integrated system controller and the preparation of test are introduced, the flow of software design is elaborated and the efficiency of integrated control system is validated by vehicle test.更多还原