摘要
为了寻求易于实现的控制策略,对ESP系统进行了仿真研究。基于轮胎魔术公式在Simulink中建立了7自由度的整车模型。从ESP的控制机理入手,以极限环理论作为ESP控制判据,使用带参数优化的PID方法实施横摆角速度和侧偏角的控制。在Simulink环境下分别建立了输入、输出、判据、控制、整车5个模块,在此基础上构建了ESP系统模型。ISO双移线仿真试验验证表明,带参数优化的PID控制策略可行,所建ESP系统控制效果明显。
ESP system is studied to find easier control strategy. The vehicle model with seven degrees of freedom is established based on the tire model of magic formula. Using the limit cycle method as ESP control criterion, PID method based on parameter optimization is used to control yaw rate and the sideslip angle by studying the control mechanism of ESP. A complete ESP system model is established in Simulink including the input, output, criterion, control and vehicle modules. Experiment with the ISO two-lane change simulation has verified the feasibility of control strategy based on parameter optimization and the effect of this control system is remarkable.
出处
《现代交通技术》
2009年第5期70-73,共4页
Modern Transportation Technology
