关键词: 汽车底盘, 实车试验, 车辆状态识别, 协调控制

Abstract: The models of the vehicle chassis suspension, braking system and handling dynamics in steering are established. The movement relationship among various systems is analyzed. To improve the vehicle ride comfort and handling stability, the PID, slide mode control and logic threshold controllers are designed to suspension, steering and braking systems. Meanwhile, the control parameters are debugged through considerable simulations, and then the best control parameters are determined. Finally, the software and hardware of the three systems of vehicle are designed, and the test of the vehicle chassis control system is carried out on the basis of state identification. The result shows that the control method can effectively improve ride comfort under complicated circumstances. According to the information of the upper coordinator, the direct yaw moment controller can well track the target yaw rate and greatly improve the handling stability. The braking subsystem controller can control wheels for acquiring the maximum braking force according to the real-time target slip ratio provided by the upper coordinator, then the braking performance is improved.

Key words: Vehicle chassis, Coordinated control, Vehicle state identification, Vehicle test