基于非线性直接横摆力矩控制的ESP研究  

A Study on Electronic Stability Program Based on Nonlinear Direct Yaw-moment Control

作　　者：胡延平[1] 陈无畏[1] 刘翔宇[1] 黄鹤[1] 

机构地区：[1]合肥工业大学机械与汽车工程学院,合肥230009

出　　处：《汽车工程》2013年第5期424-429,434,共7页Automotive Engineering

基　　金：国家自然科学基金项目(51075112;51175135)资助

摘　　要：设计了基于直接横摆力矩控制(DYC)的汽车电子稳定控制程序(ESP)控制器。采用基于输出反馈的非线性控制作为DYC控制器的算法;设计了非线性观测器用来准确地观测车辆纵向和侧向速度;设计了执行机构分配模块,为子控制器分配执行机构资源,防止DYC与防抱死制动(ABS)和驱动防滑(ASR)系统执行时相互冲突,保证ESP多种功能的正常执行;基于ARM7自主开发了ESP控制器,并搭建了硬件在环平台对其进行测试。测试结果证明了该控制策略的有效性。A controller for vehicle electronic stability program （ESP） based on direct yaw-moment control （DYC） strategy is designed with nonlinear H∞ feedback control adopted as DYC algorithm. A nonlinear observer is built for accurately estimating the longitudinal and lateral velocities of vehicle. An actuator allocation module is also designed to distribute actuator resources for all sub-controllers to prevent conflict in operation between DYC and ABS or ASR systems and ensuring the normal execution of multi-functions of ESP. An ESP controller is autonomously developed based on processor ARM7 and a platform for hardware-in-the-loop （HIL） test is constructed. The results of HIL test verify the effectiveness of the control strategy.

关 键 词：汽车 电子稳定程序 直接横摆力矩控制 硬件在环测试 

分 类 号：U463.6[机械工程—车辆工程]