关键词: 博弈论, 功能分配, 汽车底盘, 协调控制

Abstract: Considering the coupled dynamics among suspension, steering and braking sub-systems in vehicle chassis, the high-order and nonlinear dynamic model is built. The sub-optimal controllers of nonlinear H∞ control, direct yaw moment PID control and sliding mode control are separately designed for the suspension, steering and braking subsystems. In order to further improve the vehicle chassis whole-region optimal control performance, the subsystems’ control functions are distributed based on the function distribution principle, and the subsystem’s control function indices are utilized for competing by game theory. The upper-layer coordinated controller is designed to obtain the expected control output values, and the fuzzy rules are utilized to adaptively adjust the subsystems’ control output in order to follow the whole-region control object. The considerable simulations are carried out for full-vehicle coordinated control system, and the function distribution based chassis control system test platform is established by utilizing ARM in order to carry out the vehicle road test. The results demonstrate that the full-vehicle coordinated control system based on game theory can obtain the best control performances than the uncoordinated control system and uncontrolled system.

Key words: Coordinated control, Function distribution, Game theory, Vehicle chassis