I/O DECOUPLING AND DECOUPLING PROPOTION AND
DIFFERENTIAL CONTROL OF NONLINEAR
FULL CAR SYSTEM

CHEN Wuwei XU Juan HU Fang LIU Jun JIANG Wuhua

(School of Mechanical and Automobile Engineering,Hefei University of Technology,Hefei 230009 )

Abstract: To decouple the couple action of lateral and vertical motion in the nonlinear model of a full car implemented with the electrical power steering system(EPS) and the active suspension system(ASS),and reduce the disturbance of road roughness,a decoupling controller is designed according to nonlinear decoupling control theory. Based on the above integrated system,a proportion and differential(PD) loop is added to this controller to decrease the response time,tracking error and over-shooting. The simulation results show that decoupling control with PD loop can work better than single decoupling controller; The integrated system with the decouple strategy has better performance than single EPS or ASS controller. Mean-while,to verify the correctness of theoretic analysis and simulation,road driving tests with real car implemented ASS+EPS integrated system is carried out. The test results are consistent with the control theory and presented algorithm,and the effectiveness is proved.

Key words: Nonlinear system Coupling Decoupling control Integrated system

CLC No: U461.1

国家自然科学基金资助项目(50275045,50575064). Received 20060227, received in revised form 20060915