摘要
采用"魔术公式",建立了轮胎的纵向力和侧向力的数学模型,完整地表达了纯工况下轮胎的力学特性,研究了7自由度整车模型ESP控制系统,运用Matlab/Simulink软件建立了包括发动机、制动器、轮胎和车身等子模型的整车动力学模型,设计了模糊PID控制系统的算法和结构,进行了ISO 3888紧急双移线等极限工况下的整车操纵稳定性仿真试验.结果表明:当横摆加速度与名义值产生偏差超过一定范围时,ESP控制系统对被控车轮进行制动,限制了质心侧偏角的增加.通过转向盘可以有效地控制汽车的侧向加速度变化,且轨迹跟随性较好,提高了汽车操纵稳定性.
By magic formula, tire longitudinal force and lateral force mathematics models were built, and the mechanical properties at pure tire condition were completely expressed. Seven degree freedoms vehicle model with ESP control system was researched. By using simulation software of Matlab/Simulink, a vehicle dynamic model which contains elements of engine, brakes, tire model and vehicle body systems was established. The basic principles and control strategy of vehicle stability were theoretically designed by using fuzzy parameters of PID control method. According to ISO 3888, the vehicle handling simulation was conducted under double lane change and other limit driving conditions. The result shows when difference between yaw acceleration and nominal value yaw acceleration is over a certain range, the ESP control system brakes the controlled wheel, and limits the increase of sideslip angle. The vehicle lateral acceleration could be effectively controlled by steering wheel with good trajectory following and vehicle han- dling stability could be significantly improved.
出处
《江苏大学学报（自然科学版）》
EI
CAS
北大核心
2011年第3期266-271,共6页
Journal of Jiangsu University：Natural Science Edition
基金
汽车动态模拟国家重点实验室开放基金资助项目(20071101)
关键词
电子稳定性控制系统
7自由度
PID控制
魔术公式
数学模型
elcetronic stability program
seven degrees of freedoms
PID control
magic formula
mathematics models
