This article deals with the control chassis dynamics of a light electric vehicle. In the frame of Global Chassis Control, it proposes a hierarchical control approach focuses on compensating the chassis dynamics against driver disturbances. It is based on a supervisory structure consists of two main levels, a global controller for regulating chassis variables and a local controller to each suspension system. Both controllers are designed using a fractional-order robust controller, namely CRONE controller, to provide an optimized solution for the performance-robustness tradeoff. The main objective is to improve ride comfort for passengers while respecting road holding and handling criteria. In contrast to other studies, random road disturbances are considered to investigate the limits of the proposed approach. Analysis in frequency and time domain has been done to evaluate the performance and robustness of the designed controller. Simulation results based on a full nonlinear 14 degree of freedom vehicle model show that the proposed strategy can effectively improve the ride quality in the field of interest where a significant performance in driver disturbance rejection is reported.

中文翻译：

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电动汽车驾驶员干扰抑制的分层方法：CRONE 方法


本文讨论轻型电动汽车的控制底盘动力学。在全局底盘控制的框架中，它提出了一种分层控制方法，重点是针对驾驶员干扰补偿底盘动态。它基于由两个主要级别组成的监控结构：用于调节底盘变量的全局控制器和每个悬架系统的本地控制器。两种控制器均采用分数阶鲁棒控制器（即 CRONE 控制器）设计，为性能与鲁棒性权衡提供优化的解决方案。主要目标是提高乘客的乘坐舒适度，同时遵守道路保持和操控标准。与其他研究相比，随机道路扰动被考虑来调查所提出方法的局限性。已经进行了频域和时域分析，以评估所设计的控制器的性能和鲁棒性。基于全非线性14自由度车辆模型的仿真结果表明，所提出的策略可以有效地改善感兴趣领域的乘坐质量，其中在驾驶员干扰抑制方面具有显着的性能。