摘要
汽车的横摆加速度过大会引起过度转向和过多不足转向等危险工况。采用线性二自由度车辆模型计算目标横摆角速度和目标质心侧偏角,运用卡尔曼滤波理论实时估算汽车的质心侧偏角并结合横摆角速度传感器对车辆稳定状态进行监测,提出了基于横摆角速度和质心侧偏角的ESP控制方法,着重介绍了ESP逻辑判断准则,应用Matlab/Simulink软件实现相应的电子稳定控制策略,同时利用AMESim软件中的15自由度整车模型建立AMESim-Simulink联合仿真模型,仿真结果验证了所提出的质心侧偏角估算的可行性及稳定性控制策略的有效性。
Oversize yaw acceleration of vehicle would cause oversteer and understeer. It calculated target yaw rate and target side slip angle by using two-degree-freedom linear model, estimated vehicle slip angle in real-time on the basis of Kalman filter and monitored vehicle stability state by using yaw rate sensor ,thus it proposed ESP control method that yaw rate and slip angle was control variables. ESP logical criterion was described in detail. ESP control strategy was accomplished by the application of Matlab/Simulink software and co-simulation model between AMESim and Simulink was built by using 15 DOF vehicle model of AMESim. The results proved the feasibility of proposed slip angle estimator and the effectiveness of ESP control strategy.
出处
《机械设计与制造》
北大核心
2015年第2期59-62,共4页
Machinery Design & Manufacture
基金
山东省自然科学基金(ZR2013EEL016)
关键词
电子稳定性程序
卡尔曼滤波
控制策略
联合仿真
Electronic Stability Program
Kalman Filter
Control Strategy
Co-Simulation
