CarMaker/Simulink Modeling and Joint Simulation of Automotive ESP System
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摘要: 为提高车辆电子稳定程序的控制精度，通过分层模块化思想，提出以横摆角速度和质心侧偏角为输入量的ESP控制系统算法，最终输出稳定制动力矩提高车辆的操纵稳定性。为保证控制系统的准确性，采用CarMaker和Simulink联合建立虚拟仿真环境，并在ISO3888-2(2002)急促双移线试验工况下进行验证。结果表明：试验较好地验证了ESP系统算法的有效性；当横摆角速度和质心侧偏角的偏差值超过规定范围时，控制系统能准确实施制动干预，保证了车辆能准确跟踪驾驶员的期望路线。Abstract: In order to improve the control accuracy of vehicle electronic stability program, an ESP control system algorithm with yaw angular velocity and sideslip angle of center of mass as inputs is proposed through the idea of layered modularization, in which the stable braking moment is as final output to improve vehicle handling stability. In order to ensure the accuracy of the control system, CarMaker and Simulink were used to establish a virtual joint simulation environment, which was validated under the condition of ISO3888-2 (2002). The results show that the effectiveness of ESP system is validated by experiments. When the deviation between yaw rate and sideslip angle exceeds the prescribed range, the ESP control system can implement braking intervention accurately, which ensures that the vehicle can accurately track the driver's desired route..
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Key words:
- ESP system /
- yaw rate /
- sideslip angle of center of mass /
- joint simulation
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表 1 模糊规则表
e ec NB NM NS ZO PS PM PB NB PB PB PB PB PM ZO ZO NM PB PB PB PB PM ZO ZO NS PM PM PM PM ZO NS NS ZO PM PM PS ZO NS NM NM PS PS PS ZO NM NM NM NM PM ZO ZO NM NB NB NB NB PB ZO ZO NM NB NB NB NB 
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表 2 制动力矩控制规则表
车辆状态 决策算法 Sa Yr ey 转向特性 控制车轮 Sa > Sm Yr > 0 ey > 0 过度转向 右前轮 Sa > Sm Yr > 0 ey < 0 不足转向 左后轮 Sa > Sm Yr < 0 ey > 0 不足转向 右后轮 Sa > Sm Yr < 0 ey < 0 过度转向 左前轮 Sa < Sm Yr > 0 ey > 0 过度转向 左前轮 Sa < Sm Yr > 0 ey < 0 不足转向 右前轮 Sa < Sm Yr < 0 ey > 0 不足转向 右后轮 Sa < Sm Yr < 0 ey < 0 过度转向 左前轮
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表 3 车辆动力学模型参数表
参数名称 参数值 整备质量，簧载质量/kg 1 463/1 301 轴距，轮距，质心高度/m 2.537/1.55/0.56 质心与前后轴之间的距离/m 1.12/1.417 车轮滚动半径/m 0.29 绕x/y/z轴的转动惯量/(kg·m2) 470/1 500/1 600 前后轮侧倾偏转系数 0.09/0.07 前后轮轮胎侧偏刚度/(N·rad−1) 0.085/0.065 前后轮总侧偏刚度/(N·m·rad−1) −40 000/−48 000 前后悬架总侧倾刚度/(N·m·rad−1) 72 150 前后悬架总侧倾阻尼/(N·m·s·rad−1) 3 460
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