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

Previous Articles     Next Articles

Hierarchical control for vehicle electronic stability control system

JIN Li-qiang1, LIU Gang1, 2, CHEN Peng-fei1   

  1. 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

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

CLC Number: 

  • U461
[1] Xiong L,Yu Z,Wang Y,et al.Vehicle dynamics control of four in-wheel motor drive electric vehicle using gain scheduling based on tyre cornering stiffness estimation[J].Vehicle System Dynamics,2012,50(6):831-846.
[2] Song P, Tomizuka M, Zong C. A novel integrated chassis controller for full drive-by-wire vehicles[J]. Vehicle System Dynamics,2015,53(2):215-236.
[3] Shuai Zhi-bin, Zhang Hui, Wang Jun-min, et al. Lateral motion control for four-wheel-independent-drive electric vehicles using optimal torque allocation and dynamic message priority scheduling[J]. Control Engineering Practice,2014,24:55-66.
[4] Shibahata Y,Shimada K,Tomari T. Improvement of vehicle maneuverability by direct yaw moment control[J]. Vehicle System Dynamics,1993,22(5):465-481.
[5] 李刚,宗长富,陈国迎,等. 线控转向四轮独立驱动电动车的AFS_DYC集成控制[J]. 华南理工大学学报,2012,40(3):150-155.
Li Gang, Zong Chang-fu, Chen Guo-ying, et al. Integrated AFS/DYC control of steering-by-wire 4WID electric vehicle[J]. Journal of South China University of Technology,2012,40(3):150-155.
[6] 余卓平,高晓杰,张立军. 用于车辆稳定性控制的直接横摆力矩及车轮变滑移率联合控制研究[J]. 汽车工程,2006,28(9):844-851.
Yu Zhuo-ping,Gao Xiao-jie,Zhang Li-jun. A study on coordination of direct yaw monment control and variable wheel slip control for vehicle stability[J]. Automotive Engineering, 2006,28(9):844-851.
[7] 林程,彭春雷,曹万科. 独立驱动电动汽车稳定性的滑模变结构控制[J]. 汽车工程,2015,37(2):132-138.
Lin Cheng,Peng Chun-lei,Cao Wan-ke. Sliding mode variable structure control for the stability of independent drive electric vehicle[J]. Automotive Engineering,2015,37(2):132-138.
[8] Li L,Jia G,Chen J,et al. A novel vehicle dynamics stability control algorithm based on the hierarchical strategy with constrain of nonlinear tyre forces[J]. Vehicle System Dynamics,2015,53(8):1093-1116.
[9] 宗长富,郑宏宇,田承伟,等. 基于直接横摆力矩控制的汽车稳定性控制策略[J]. 吉林大学学报:工学版,2008,38(5):1010-1014.
Zong Chang-fu, Zheng Hong-yu, Tian Cheng-wei,et al. Vehicle stability control strategy based on direct yaw moment control[J]. Journal of Jilin University(Engineering and Technology Edition),2008,38(5):1010-1014.
[10] Yang P. Stability control strategy design and experiment of distributed electric drive vehicle[J]. Journal of Mechanical Engineering, 2013,49(24):128-143.
[11] 玄圣夷,宋传学,靳立强. 基于多级鲁棒PID控制的汽车稳定性控制策略[J]. 吉林大学学报:工学版,2010,40(1):13-18.
Xuan Sheng-yi, Song Chun-xue, Jin Li-qiang, et al. Multilevel robust PID control strategy for vehicle stability control[J]. Journal of Jilin University(Engineering and Technology Edition),2010,40(1):13-18.
[12] 续丹,王国栋,曹秉刚,等. 独立驱动电动汽车的转矩优化分配策略研究[J]. 西安交通大学学报,2012,46(3):42-46.
Xu Dan,Wang Guo-dong,Cao Bing-gang,et al. Study on optimaizing torque distribution strategy for independent 4WD electric vehicle[J]. Journal of Xi'an Jiaotong University,2012,46(3):42-46.
[1] CHANG Cheng,SONG Chuan-xue,ZHANG Ya-ge,SHAO Yu-long,ZHOU Fang. Minimizing inverter capacity of doubly-fed machine driving electric vehicles [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1629-1635.
[2] XI Li-he,ZHANG Xin,SUN Chuan-yang,WANG Ze-xing,JIANG Tao. Adaptive energy management strategy for extended range electric vehicle [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1636-1644.
[3] HE Ren,YANG Liu,HU Dong-hai. Design and analysis of refrigeration system supplied by solar auxiliary power of refrigerator car [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1645-1652.
[4] NA Jing-xin,MU Wen-long,FAN Yi-sa,TAN Wei,YANG Jia-zhou. Effect of hygrothermal aging on steel-aluminum adhesive joints for automotive applications [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1653-1660.
[5] LIU Yu-mei,LIU Li,CAO Xiao-ning,XIONG Ming-ye,ZHUANG Jiao-jiao. Construction on collision avoidance model of bogie dynamic simulation test bench [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1661-1668.
[6] ZHAO Wei-qiang, GAO Ke, WANG Wen-bin. Prevention of instability control of commercial vehicle based on electric-hydraulic coupling steering system [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1305-1312.
[7] SONG Da-feng, WU Xi-tao, ZENG Xiao-hua, YANG Nan-nan, LI Wen-yuan. Life cycle cost analysis of mild hybrid heavy truck based on theoretical fuel consumption model [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1313-1323.
[8] ZHU Jian-feng, ZHANG Jun-yuan, CHEN Xiao-kai, HONG Guang-hui, SONG Zheng-chao, CAO Jie. Design modification for automotive body structure based on seat pull safety performance [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1324-1330.
[9] NA Jing-xin, PU Lei-xin, FAN Yi-sa, SHEN Chuan-liang. Effect of temperature and humidity on the failure strength of Sikaflex-265 aluminum adhesive joints [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1331-1338.
[10] WANG Yan, GAO Qing, WANG Guo-hua, ZHANG Tian-shi, YUAN Meng. Simulation of mixed inner air-flow integrated thermal management with temperature uniformity of Li-ion battery [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1339-1348.
[11] JIN Li-sheng, XIE Xian-yi, GAO Lin-lin, GUO Bai-cang. Distributed electric vehicle stability control based on quadratic programming [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1349-1359.
[12] KUI Hai-lin, BAO Cui-zhu, LI Hong-xue, LI Ming-da. Idling time prediction method based on least square support vector machine [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1360-1365.
[13] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[14] HU Man-jiang, LUO Yu-gong, CHEN Long, LI Ke-qiang. Vehicle mass estimation based on longitudinal frequency response characteristics [J]. 吉林大学学报(工学版), 2018, 48(4): 977-983.
[15] LIU Guo-zheng, SHI Wen-ku, Chen Zhi-yong. Finite element analysis of transmission error for hypoid gears considering installation error [J]. 吉林大学学报(工学版), 2018, 48(4): 984-989.
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
[1] LIU Song-shan, WANG Qing-nian, WANG Wei-hua, LIN Xin. Influence of inertial mass on damping and amplitude-frequency characteristic of regenerative suspension[J]. 吉林大学学报(工学版), 2013, 43(03): 557 -563 .
[2] CHU Liang, WANG Yan-bo, QI Fu-wei, ZHANG Yong-sheng. Control method of inlet valves for brake pressure fine regulation[J]. 吉林大学学报(工学版), 2013, 43(03): 564 -570 .
[3] LI Jing, WANG Zi-han, YU Chun-xian, HAN Zuo-yue, SUN Bo-hua. Design of control system to follow vehicle state with HIL test beach[J]. 吉林大学学报(工学版), 2013, 43(03): 577 -583 .
[4] HU Xing-jun, LI Teng-fei, WANG Jing-yu, YANG Bo, GUO Peng, LIAO Lei. Numerical simulation of the influence of rear-end panels on the wake flow field of a heavy-duty truck[J]. 吉林大学学报(工学版), 2013, 43(03): 595 -601 .
[5] WANG Tong-jian, CHEN Jin-shi, ZHAO Feng, ZHAO Qing-bo, LIU Xin-hui, YUAN Hua-shan. Mechanical-hydraulic co-simulation and experiment of full hydraulic steering systems[J]. 吉林大学学报(工学版), 2013, 43(03): 607 -612 .
[6] ZHANG Chun-qin, JIANG Gui-yan, WU Zheng-yan. Factors influencing motor vehicle travel departure time choice behavior[J]. 吉林大学学报(工学版), 2013, 43(03): 626 -632 .
[7] MA Wan-jing, XIE Han-zhou. Integrated control of main-signal and pre-signal on approach of intersection with double stop line[J]. 吉林大学学报(工学版), 2013, 43(03): 633 -639 .
[8] YU De-xin, TONG Qian, YANG Zhao-sheng, GAO Peng. Forecast model of emergency traffic evacuation time under major disaster[J]. 吉林大学学报(工学版), 2013, 43(03): 654 -658 .
[9] XIAO Yun, LEI Jun-qing, ZHANG Kun, LI Zhong-san. Fatigue stiffness degradation of prestressed concrete beam under multilevel amplitude cycle loading[J]. 吉林大学学报(工学版), 2013, 43(03): 665 -670 .
[10] XIAO Rui, DENG Zong-cai, LAN Ming-zhang, SHEN Chen-liang. Experiment research on proportions of reactive powder concrete without silica fume[J]. 吉林大学学报(工学版), 2013, 43(03): 671 -676 .