关键词: 电子稳定控制程序, 分层协调控制, 硬件在环仿真, 主动悬架

Abstract: Layered coordinated control models of automotive electronic stability program(ESP) and active suspension system(ASS) are built and adaptive fuzzy control of ESP is adopted, for which the controller is designed on the basis of state observer. The controller of ASS is designed by using optimal control theory of stochastic linear quadratic, and layered coordinated controller is designed. The coordinated controller calculates the weighted values of lower controllers by linear weight function. Matlab/Simulink simulation results indicate that the layered coordinated control strategy can improve the driving stability and comfort well. Coordinated controller, ESP controller and vehicle model are built in Labview system. Combined with ASS which is developed independently and actuator of ESP, hardware-in-the-loop simulation is carried out. The results are consistent with Matlab simulation results.

Key words: Active suspension system, Electronic stability program, Hardware-in-the-loop simulation, Layered coordinated control