通过ADAMS/Car软件建立了车辆虚拟样机模型，车辆模型具有四轮独立制动和四轮转向的能力。在车辆稳定性系统和四轮转向系统的基础上，基于MATLAB设计了一种分层式集成控制系统，由上层控制器和下层子系统控制器组成。下层子系统控制器包括车辆稳定性控制子系统（以目标横摆角速度为控制目标）和四轮转向控制子系统（以车身质心零侧偏角为控制目标）。上层控制器为基于规则的系统管理控制器，考虑子系统间的相互耦合因素，协调子系统间的工作关系。理论分析和仿真结果表明，构建的分层式集成控制系统是一个行之有效的综合仿真和优化控制的系统，其性能优于单独控制和叠加控制，使车辆的操纵稳定性和安全性得到显著提高，所得结果为集成控制在车辆工程中的实际应用提供了参考。%This paper built a vehicle virtual prototype model with ADAMS/Car ,the vehicle model had the ability of four w heel independent braking and four w heel steering .Based on the vehicle stabili-ty system and four wheel steering system ,a kind of hierarchical integrated control system was de-signed ,which consisted of upper controller and lower subsystem controller .The lower subsystem con-troller included the vehicle stability control subsystem and four-wheel steering control subsystem .The vehicle stability control subsystem took the target yaw-rate as control target ,and the four-wheel steering control subsystem took the body mass center zero side angle as control target .T he upper con-troller was a system management controller based on the rules which considered the mutual coupling factors among subsystems ,coordinated the relationship among the subsystems .The theoretical analy-sis and simulation results show that the hierarchical integrated control system has a better perform-ance on improving the vehicle’s stability and safety ,its performance is better than that of the single control and superposition control and the simulation conclusions provide a reference for practical appli-cations of the integrated control in vehicle engineering .
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