汽车电子稳定控制系统的分层控制策略及试验

doi:10.13229/j.cnki.jdxbgxb201606002

吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (6): 1765-1771.doi: 10.13229/j.cnki.jdxbgxb201606002

汽车电子稳定控制系统的分层控制策略及试验

靳立强¹, 刘刚^{1, 2}, 陈鹏飞¹

1.吉林大学汽车仿真与控制国家重点实验室, 长春 130022;
2.河南工学院自动控制系,河南新乡 453000

收稿日期:2015-09-25 出版日期:2016-11-20 发布日期:2016-11-20
作者简介:靳立强(1976-),男,教授,博士生导师.研究方向:汽车底盘电子控制技术,电动汽车四轮独立驱动技术.E-mail:jinlq@jlu.edu.cn
基金资助:
国家自然科学基金项目(50907030); 中国博士后科学基金项目(2013M54024B)

Hierarchical control for vehicle electronic stability control system

JIN Li-qiang¹, LIU Gang^{1, 2}, CHEN Peng-fei¹

1.State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China;
2.Department of Automation, Henan Institute of Technology, Xinxiang 453000, China

Received:2015-09-25 Online:2016-11-20 Published:2016-11-20

摘要/Abstract

摘要： 为了提高车辆在复杂工况下的稳定性能,设计了基于分层控制的电子稳定控制系统(ESC)。系统的上层控制器以横摆角速度和质心侧偏角为控制变量,采用模糊PID算法计算出车辆维持稳定所需的横摆力矩;下层控制器根据上层输出的所需横摆力矩计算得出被控车轮的滑移率变化量,然后采用变参数PID算法对车轮进行滑移率控制,从而实现车辆所需的横摆力矩。最后,应用Matlab/Simulink验证了该控制算法的有效性,并将该算法移植到单片机做冬季实车场地试验,单移线和双移线工况试验结果表明了该算法的工程实用性。

关键词: 车辆工程, 电子稳定控制系统, 模糊PID控制, 横摆力矩控制

Abstract: In order to improve the vehicle stability under complex working condition, an electronic stability control system based on hierarchical strategy is proposed. The up layer of the controller is a fuzzy Proportional-integral-derivative (PID) controller, and the controlling variables are the yaw rate and the side-slip angle. The desired yaw moment is calculated by the upper layer. The target slip rate is calculated based on the relationship between the yaw moment and the slip rate. Then, the lower layer is applied to control the slip rate. Finally, the ESC algorithm is verified by Matlab/Simulink. The winter road test shows that the proposed control strategy can improve vehicle stability performance.

Key words: vehicle engineering, electronic stability control(ESC), fuzzy-PID, yaw moment control

中图分类号:

U461

靳立强, 刘刚, 陈鹏飞. 汽车电子稳定控制系统的分层控制策略及试验[J]. 吉林大学学报(工学版), 2016, 46(6): 1765-1771.

JIN Li-qiang, LIU Gang, CHEN Peng-fei. Hierarchical control for vehicle electronic stability control system[J]. 吉林大学学报(工学版), 2016, 46(6): 1765-1771.

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汽车电子稳定控制系统的分层控制策略及试验

Hierarchical control for vehicle electronic stability control system

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