Vehicle Active Chassis Integrated Control Based on Multi-Model Intelligent Hierarchical Control

Abstract

According to the characteristics of the vehicle active chassis system, multi-model system including Electric Power Steering System (EPS), Anti-lock Braking System (ABS) and Semi-active Suspension system (SAS) is established. Then, using the strategy of intelligent hierarchical control, the coordinated controller of active chassis system is designed. The bottom layer controller includes 3 separate controllers, i.e., suspension, steering and braking system controllers. They are used to carry out different control tasks and achieve performance indexes of subsystems. The upper layer coordinated controller is used to judge the vehicle states. At the same time, combined with the vehicle chassis coordinated control logic and the characteristics of feed-back information coming from the bottom controllers, the upper coordinated controller make whole coordination and control decision-making to vehicle active chassis subsystems. The simulation results show that the intelligent hierarchical control can improve the vehicle operational performances effectively.