| A full car nonlinear model based on horizontal and vertical dynamics is set up according to the principle of Vehicle System Dynamics, based on this mode, the research concerning the integrated control of EPS and ASS is carried out. Considering the coupling of the motion in the nonlinear model of whole car, therefore, there is couple influence in control channels, Decoupling Control theory is applied to decouple the system IO channels, in addition, in order to eliminate the disturbance of road input, a noise Decoupling Control section is added based on the original channels decoupling which plays a vital role in eliminating road disturbance. Also, in order to improve the transient performance target, a PD controller used to adjust the control signal is added based on the former decoupling controller. Finally, the full car integrated system controller and the preparation of test are introduced, the flow of software design is elaborated and the efficiency of integrated control system is validated by vehicle test. |
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