汽车电子稳定程序的分层协调控制策略研究(英文)

A Study on Hierarchical Coordination Control Strategy of Vehicle Electronic Stability Program

为了减少系统之间的相互干扰,提高ESP系统的控制效果,设计了一种以汽车横摆角速度为控制变量,采用模糊控制和PID控制算法的分层协调控制器。在MATLAB/Simulink中建立了轮胎模型、整车模型和参考模型。在AMESim中建立了四通道液压制动模型,并通过接口连接成汽车动力学联合仿真模型。将硬件嵌入到整个仿真系统,进行硬件在环仿真试验。离线仿真与实时仿真结果表明:采用分层协调控制策略可有效提高汽车操作稳定性和安全性。

To decrease mutual interference between systems and improve the control effect of ESP system, taking yaw angular velocity as control variable, a kind of Hierarchical coordination controller is designed by adopting fuzzy control and PID control algorithm. The tyre model, entire auto model and reference model are established in MATLAB/Simulink, and a four-way hydraulic brake model are established in AMESim; and all of the models are connected to combined simulation model for auto dynamics by utilizing interfaces. Hardware is embedded into the entire simulation system to conduct hardware-in-the-loop simulation test. Results of off-line and real-time simulation show that, it can improve operation stability and safety of autos effectively by adopting hierarchical coordination control strategy.