汽车ESP系统的建模和控制方法  

Modeling and Controlling Method for Vehicle ESP System

作　　者：马春卉[1,2] 吴志林[1] 王良模[1] 李松焱[3] 

机构地区：[1]南京理工大学机械工程学院,江苏南京210094 [2]江苏海事职业技术学院船舶与港口工程系,江苏南京211170 [3]南京钟山职业技术学院机电与汽车工程系,江苏南京210049

出　　处：《南京理工大学学报》2010年第1期108-112,共5页Journal of Nanjing University of Science and Technology

基　　金：江苏省汽车工程重点实验室开放基金项目(QC200605)

摘　　要：为了提高汽车操纵稳定性和行驶安全性,该文针对ESP系统的特性,采用"魔术公式"轮胎模型,建立了七自由度汽车模型,运用MATLAB/SIMULINK软件实现数学模型到仿真模型的转换并进行了仿真分析。根据ESP系统的非线性时变特性,运用模糊控制原理,设计了以横摆角速度和质心侧偏角为控制变量的参数自整定模糊PI控制器。仿真结果表明,该控制方法可以较好地控制汽车的横摆角速度,提高汽车的操纵稳定性。To improve the stability and the safety of the vehicle operation, according to the electronic stability program（ESP） characteristics, this paper builds a vehicle model with seven degrees of freedom which includes Magic Formula tire model. The software MATLAB/SIMULINK is used to convert from a mathematic model to a simulation model and the simulation is analyzed. By using fuzzy control, a parameter self-tuning fuzzy- PI controller which can control the feedback of yaw angular velocity and the side angle of the mass center is designed based on the nonlinear time-varying characteristics of ESP. The simulation result shows that the yaw angular velocity and cardiac side angle can be well controlled by this method. The vehicle stability can be enhanced remarkably.

关 键 词：电子稳定程序 车辆模型 横摆角速度 模糊控制 

分 类 号：U461.6[机械工程—车辆工程]