摘要
为了提高车辆电子稳定程序的控制精度,采用分层模块化思想将ESP系统分为输入层、控制层和执行层进行研究。Adams/Car建立开发车的车辆动力学模型,Matlab/Simulink建立线性二自由度汽车仿真模型;以横摆角速度、质心侧偏角为联合控制变量,采用PID控制算法建立ESP系统,最终输出维持车身稳定的各车轮制动力矩。为验证控制系统的有效性,利用Adams/Controls构建了Adams/Car与Simulink虚拟联合仿真环境,并在前轮角阶跃输入和单移线输入两种试验工况下进行验证。试验结果表明:所设计的ESP系统不仅提高了车辆行驶稳定性而且能使车辆的质心侧偏角保持在更小范围内,使路径跟踪能力更强。
In order to improve the control accuracy of the vehicle electronic stability program,the ESP system is divided into the input layer,the control layer and the execution layer through the idea of layered modularization.The vehicle dynamics model of development vehicle was established by Adams/Car,the linear two-degree-of-freedom vehicle simulation model was established by Matlab/Simulink.Taking the yaw rate and the side slip angle of center of mass as joint control variables,the PID control algorithm was used to establish the ESP control system,and finally the braking torque of each wheel to maintain the stability of the body is output.In order to verify the effectiveness of the control system,a virtual co-simulation environment of Adams/Car and Simulink was constructed using Adams/Controls,and it was validated under two test conditions of front wheel angle step input and single shift input.The test results show that the designed ESP system not only improves the driving stability of the vehicle,but also keeps the vehicle's side slip angle of center of mass within a smaller range,making the path tracking ability stronger.
作者
袁长志
屈翔
YUAN Changzhi;QU Xiang(Chongqing University of Technology,College of Vehicle Engineering,Chongqing 400054)
出处
《汽车实用技术》
2021年第20期59-64,70,共7页
Automobile Applied Technology
关键词
ESP系统
分层模块化思想
车辆动力学模型
线性二自由度汽车仿真模型
ESP system
Idea of layered modularization
Vehicle dynamics model
Linear two-degree-of-freedom vehicle simulation model
