基于主动转向与模糊滑模控制ESP的协同控制研究  

Research of cooperative control based on active steering and fuzzy sliding mode control ESP

作　　者：屈小贞[1] 冯浩轩 李刚[1] QU Xiaozhen;FENG Haoxuan;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：《现代制造工程》2021年第12期60-67,共8页Modern Manufacturing Engineering

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

摘　　要：为了进一步提高汽车底盘协同控制的稳定性与可靠性,设计了一种新的协同控制系统,该协同控制系统由主动转向控制器和电子稳定控制系统(Electronic Stability Program,ESP)控制器组成。ESP控制器基于滑模变结构控制方法中滑模面的模糊逻辑调整策略,并利用模糊控制器建立可跟随车辆状态变化的动态滑模面,与主动转向系统进行协同控制研究。最后基于硬件在环试验平台完成了低路面附着系数和高路面附着系数路面的双移线工况试验分析,试验结果表明:相较其他控制方法,基于主动转向与模糊滑模控制ESP的协同控制可以更好地改善车辆在不同工况下行驶时的操纵稳定性和安全性。In order to improve the stability and reliability of vehicle chassis cooperative control system,a new cooperative control system was proposed,which consists of an active steering controller and an Electronic Stability Program(ESP)controller.The ESP controller is based on the fuzzy logic adjustment strategy of sliding mode surface in the sliding mode variable structure control method,and then the cooperative control research was studied by using fuzzy controller to design the dynamic sliding surface which following the system state and the active steering system.Finally,based on the hardware in the loop test platform,the double lane shifting test analysis of low road adhesion coefficient and high road adhesion coefficient was completed,and the test results show that the cooperative controller based on active steering and fuzzy sliding mode control ESP can better improve the vehicle handling stability and safety under different driving conditions compared with other control methods.

关 键 词：协同控制 模糊滑模控制 硬件在环 操纵稳定性 

分 类 号：U463.4[机械工程—车辆工程]