汽车ESC系统主环伺服环分层结构控制策略  

The main-loop and servo-loop structure control strategy of ESC

作　　者：张为[1] 王伟达[2] 丁能根[3] 李春里[1] 

机构地区：[1]交通运输部科学研究院,北京100029 [2]北京理工大学车辆传动国家重点实验室,北京100081 [3]北京航空航天大学交通科学与工程学院,北京100191

出　　处：《重庆大学学报（自然科学版）》2012年第7期19-24,共6页Journal of Chongqing University

基　　金：国家自然科学基金资助项目(51005017)

摘　　要：针对提高车辆操纵稳定性的电子稳定控制系统(ESC)的控制问题,提出了主环伺服环分层结构的ESC控制策略。主环控制器采用一阶滑模控制算法,设计了滑模面和滑模控制律,其输出为保持车辆稳定性所需的车身附加横摆力矩。伺服环控制器采用近似模拟人类思维的九点五态控制算法,通过控制制动压力实现期望的制动滑移率,从而产生附加横摆力矩。设计了具有实时视景反馈功能的驾驶员在环仿真平台,对分层控制策略进行了在线测试。测试结果表明,提出的ESC控制策略显著地提高了低附着路面或驾驶员过度操作车辆等工况的操纵稳定性和主动安全性,驾驶员在环仿真方法提高了测试的真实性和开发控制策略的针对性。Aiming at the control of electronic stability control system（ESC）which can enhance the handling stability in limited condition,the hierarchical control structure control strategy of ESC including main-loop and servo-loop is proposed.The first order sliding mode control is used in the main-loop and the sliding mode plane and control law are designed.The output of main-loop is the accessional yaw-moment.The nine-points with five states control which can approximately simulate human thinking is used in the servo-loop.The brake pressure is controlled by the servo-loop aiming at the desired slip rate and the accessional yaw-moment is generated by brake force.The driver-in-the-loop simulation bench is designed and the online test of the control strategy is carried on.The test results indicate that the handling stability and active safety are enhanced remarkably by the ESC control strategy in the drive condition of low adhesion road and driver handling vehicles immoderately,and the testing facticity and the pertinency of developed control strategy are improved by the driver-in-the-loop simulation.

关 键 词：先进车辆控制系统 动力学系统 电子稳定控制 分层控制结构 滑模控制 驾驶员在环仿真 

分 类 号：U461.1[机械工程—车辆工程]