CAJ | 학술논문

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。
통과ADAMS/Car연건건립료차량허의양궤모형，차량모형구유사륜독립제동화사륜전향적능력。재차량은정성계통화사륜전향계통적기출상，기우MATLAB설계료일충분층식집성공제계통，유상층공제기화하층자계통공제기조성。하층자계통공제기포괄차량은정성공제자계통（이목표횡파각속도위공제목표）화사륜전향공제자계통（이차신질심령측편각위공제목표）。상층공제기위기우규칙적계통관리공제기，고필자계통간적상호우합인소，협조자계통간적공작관계。이론분석화방진결과표명，구건적분층식집성공제계통시일개행지유효적종합방진화우화공제적계통，기성능우우단독공제화첩가공제，사차량적조종은정성화안전성득도현저제고，소득결과위집성공제재차량공정중적실제응용제공료삼고。
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 .