Research On Integrated Decoupling Control Of Vehicle Active Steering And Active Suspension System

Vehicle steering and suspension system are two key systems that affect handling stability and riding comfort in the chassis system.The integrated control research of the two systems is of great significance to improve the overall performance of the chassis.In this paper,the integrated system of vehicle active steering and active suspension is taken as the research object,and the mutual coupling between them is considered synthetically.The robust control of the integrated system and the decoupling control strategy of the neural network inverse system are studied.Firstly,based on the system dynamics theory,the dynamic model of active steering and active suspension system is established respectively.Considering their mutual influence,the vehicle dynamics model based on the coupling relationship between the two is established,which lays the foundation for the subsequent integration and decoupling control research.Secondly,in order to improve the steering stability and riding comfort of the car and avoid the performance deterioration or even failure of the control system caused by the parameter uncertainty,the robust control strategy of the chassis integrated system is studied.Considering the specific frequency domain of the human body,the weighting function of the corresponding frequency domain is determined,and the robust controller is designed and solved under the effects of steering and random disturbance.Finally,in order to overcome the limitation of the robust control of the chassis integrated system,the decoupling control strategy of the chassis system based on the neural network inverse system method is proposed to eliminate the mutual coupling effect of the control channels between the two chassis subsystems.The decoupling mapping relation based on Bristol-Shinskey method is determined and the dynamic internal model robust decoupling controller is designed.Finally,the complete decoupling of the active steering system and the active suspension system is realized.Simulation results show that the proposed controller has good decoupling performance,tracking performance and robust performance,and can improve vehicle performance.The research of this paper can provide theoretical support for the research of the integration and decoupling control of the chassis system.