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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。
In order to reduce the mutual interference between systems and improve the control effect of ESP system, a hierarchical coordination controller based on fuzzy control and PID control algorithm is designed with the yaw rate of the vehicle as the control variable. Tire model, complete vehicle model and reference model are established in MATLAB / Simulink. A four-channel hydraulic brake model is established in AMESim, and is connected to a car dynamics joint simulation model through an interface. The hardware embedded in the entire simulation system, hardware-in-the-loop simulation. Off-line simulation and real-time simulation results show that the hierarchical coordination control strategy can effectively improve the stability and safety of vehicle operation.