Abstract: In order to maximize the roll stability and yaw stability of light multi-axle vehicles at high speeds, a coordinated control system of active suspension roll-moment control (ARC) and direct yaw-moment control (DYC) is designed based on the multi-layer coordinated closed-loop control strategy of an eight-wheel electrically drive unmanned light special vehicle. Firstly, taking the body roll angle and yaw angular velocity of the vehicle as the control objectives, the active suspension roll controller and the direct yaw moment controller are designed. Then, a rule-based coordinated controller is designed to reasonably allocate the working interval of each subcontroller. Finally, the AMESim/TruckSim/Simulink co-simulation platform is built to simulate and verify the designed coordinated control system. The simulation results show that the designed coordinated control system achieves the control goal of improving the high speed roll and yaw performance of multi-axle vehicles.

Key words: vehicle roll control; direct yaw-moment control; collaborative control; high speed stability of the vehicle

摘要： 为了最大程度提升轻型多轴车辆在高速时的侧倾稳定性和横摆稳定性，以八轮电驱动 无人轻型特种车辆为研究对象，基于多层协同闭环控制策略，设计了主动悬架侧倾控制（ARC） 和直接横摆力矩控制（DYC）的协同控制系统。首先，以车辆的车身侧倾角、横摆角速度为 控制目标，设计了主动悬挂侧倾控制器和直接横摆力矩控制器；随后设计了基于规则的协同 控制器，合理分配各子控制器的工作区间；最后搭建 AMESim/TruckSim/Simulink 联合仿真 平台，对所设计的协同控制系统进行了仿真验证。仿真结果表明，所设计的协同控制系统达 到了提高多轴车辆高速侧倾横摆的控制目标。

关键词: 车辆侧倾控制；直接横摆力矩控制；协同控制；车辆高速稳定性