基于ARM7的汽车底盘系统分层式协调控制试验研究

采用分层协调控制策略,进行了汽车电动助力转向系统和防抱死制动系统集成控制的研究.分别设计了底层控制器和上层协调控制器,底层控制器包括电动助力转向和防抱死制动两个单独的控制器,用以执行各子系统的控制任务;上层协调控制器则对两系统进行协调分析,并及时修改底层控制决策.试验结果表明,自行开发的底层控制器逻辑正确,上层协调控制器能够较好地协调两系统问的矛盾,解决了汽车在转向过程中施加紧急制动时车辆的操纵稳定性和平顺性变差的间题,使整车综合性能得到提高.

An Experimental Study on the Layered Coordinated Control of Vehicle Chassis System Based on ARM7 Platform

By adopting layered coordinated control strategy, a study on the integrated control of electric power steering system (EPS) and anti-lock braking system (ABS) is carried out. The bottom-layer controller and upper-layer coordinated controller are designed separately, in which the bottom controller comprises 2 separate con-trollers, for performing control missions for EPS and ABS respectively, while the upper coordinated controller con-ducts coordination analysis on two systems and modifies the decision of bottom controllers. The test results show that the control logic of self-developed bottom controllers is correct, and the upper coordinated controller can better coor-dinate the contradiction between two systems, and solve the problem of worsening in the controllability / stability and ride comfort of vehicle when applying emergent braking during cornering. As a result the overall performances of vehicle are improved.