车辆主动转向与电子稳定控制系统的协同控制  

Cooperative Control of Vehicle Active Steering and Electronic Stability Program

作　　者：屈小贞[1] 冯浩轩 李刚[1] QU Xiao-zhen;FENG Hao-xuan;LI Gang(School of Automobile & Transportation Engineering, Liaoning University of Technology, Jinzhou 121001, China)

机构地区：[1]辽宁工业大学汽车与交通工程学院,锦州121001

出　　处：《科学技术与工程》2021年第30期13155-13162,共8页Science Technology and Engineering

基　　金：国家自然科学基金(51675257);辽宁省教育厅基础研究项目(JJL202015404)。

摘　　要：为提高车辆行驶时的操纵稳定性和安全性,通过协同控制策略研究分析了主动转向与电子稳定控制系统(electronic stability program,ESP)对车辆操纵稳定性的影响。首先基于主动转向的二自由度线性车辆动力学模型设定上层协同控制策略,及下层主动转向控制器和ESP控制器,并结合CarSim与MATLAB/Simulink平台完成主动转向系统、双比例积分微分(proportion integral differentiation,PID)控制器控制的ESP系统及其协同控制的整车模型搭建,然后再基于硬件在环试验台进行高附着路面和低附着路面的双移线试验,最后对比分析不同工况下主动转向与ESP协同控制相对其独立控制下的车辆质心侧偏角和横摆角速度响应曲线。结果表明:本文设计的主动转向与ESP协同控制策略相对其独立控制,可更好地提高车辆的操纵稳定性。可见主动转向与ESP协同控制的稳定性控制效果明显提高,在极限工况下能将车辆控制在安全行驶的稳定范围内。In order to improve the handling stability and safety of the moving vehicle,the cooperative control strategy about the active steering system and electronic stability program(ESP)was used to analyze the vehicle handling stability.Firstly,the upper cooperative control system,and the lower active steering controller and ESP controller were set up based on the two degree of freedom linear vehicle dynamics model of active steering.Combined with the platform of CarSim and MATLAB/Simulink,the active steering system,the double proportion integral differentiation(PID)control ESP system and the vehicle model of cooperative control were built.Then,the double lane change testing about the high adhesion and low adhesion road surface were finished based on the hardware in the loop platform.Finally,the response curves of the vehicle side slip angle and yaw rate about the active steering and ESP cooperative control relative to the independent control,which were compared and analyzed under different working conditions.The results show that the cooperative control strategy of active steering and ESP designed can improve the vehicle handling stability better than the independent control strategy.It is concluded that the stability control effect of the cooperative control of the active steering and ESP is significantly improved,and the vehicle can be controlled within the stable range of safe driving in the extreme working conditions.

关 键 词：操纵稳定性 协同控制 硬件在环 双移线试验 

分 类 号：U463.4[机械工程—车辆工程]