【作者】 盛勇鑫；

【导师】 初亮；

【作者基本信息】 吉林大学 ， 车辆工程， 2008， 硕士

【摘要】 汽车稳定性控制系统又称电子稳定性程序(Electronic Stability Program,简记为ESP)通过抑制汽车过度转向和不足转向趋势,实时调整车辆的运行状态,从而显著改善汽车在极限转向工况下的稳定性和操纵性能,减少交通事故。电子稳定性控制系统中侧向稳定性控制是非常重要的一个部分,及时准确对车辆进行侧向稳定性控制是主动安全研究中的关键问题。在我国,对汽车稳定性控制系统的研究工作处于起步阶段,因此本文针对ESP领域中关于侧向控制的若干关键技术进行研究,对于掌握自主知识产权、打破国外技术垄断具有重要的意义。以往的侧向稳定性控制研究中关于横摆角速度目标值的估算方法单一,不够准确,从而影响了最终控制的准确性。因此本文根据于车辆二自由度模型和Ackermann方程,提出了一种基于特征车速实时计算横摆角速度目标值的方法,并利用车速对计算的横摆角速度目标值进行修正,从而保证控制的准确。最后以Matlab/Simulink软件为仿真平台针对不同的行驶工况分别进行了驾驶员开环和闭环的仿真分析,验证了本文提出的侧向稳定性控制算法的有效性和实时性。更多还原

【Abstract】 When cars are turning on the road with low adhesion coefficient or in high speed, the lateral force of the tire usually attains to the physical limit and the vehicle dynamics stability will be lost because of the exoteric disturbance or turning, so the traffic accidents frequently happen. Electronic Stability Program (shortened as ESP) can stabilize the vehicle behavior under the limit situation by controlling longitudinal forces on four wheels independently. At present, ESP has become the international research focus in the vehicle active safety field and it is gradually equipped to the moderate and top cars; while in china, the research in this field has just started. So, to study ESP has great significance for our country and also has broad application prospect.First of all, the function and the construction of the vehicle stability control system are introduced; the history of the vehicle stability and its present status are discussed; the contents of the dissertation are also put forward in this part. And then the researches about the vehicle out of control are carried on.According to this the control method and control variables are discussed. Based on the analysis, the thesis takes the yaw raw as the main control variable and the vehicle slip angle as the assistant control variable. And the target control variables are mainly discussed. Including;(1)The single wheel model is analyzed in detail, and state how the key parameter of the Acckermann Equation——characteristic vehicle speed is going with vehicle mass, the cornering stiffness and the center mass. According to this a new way of calculation of the target yaw rate and corrected based on the vehicle speed is introduced. (2) The control effect is evaluated by the simulation. (3) How to calculate the vehicle slip angle is also introduced in this chapter based on the analysis of the vehicle dynamic.Based on Chapter Three the whole Electronic Stability Program is introduced in detail. Including the identification of the vehicle state, the release precondition of the control, the active brake control and the algorithm based on slip PID control. A whole Electronic Stability Program is given according to all above. And it is also establish a steady foundation for the simulation analysis.Finally,the article applied the widespread software-Matlab/Simulink to establish the entire vehicle model and control algorithm model. The ESP control strategy within the closed loop and open loop and testified the operating mode simulations of the single lane, double lane, S lane and the step wheel angle. By the simulation analysis under both the open loop and closed loop of ESP system, it can get the conclusion that the car with ESP control can achieve the anticipant driving situation and the control strategy of this dissertation is correct.The thesis analyzed the vehicle dynamic state, improved the calculation of the target yaw rate based on the single wheel model, and introduced the whole ESP control strategy. By the simulation analysis under both the open loop and closed loop of ESP system, it can say that The ESP control system can effectively improve the stability of the vehicle under high-speed steering or low friction coefficient circumstance so as to assist the drivers’steering operation.更多还原