基于多体模型的EPS和ABS协调控制研究

摘要

It aims at the problem of mutual interference in cornering braking of vehicle electric power steering and anti-lock braking system. The vehicle model of 7 degrees of freedom and the dynamic model of EPS are built. The outhor designed the EPS and ABS sub controllers and the functional coordination control system with upper level coordination control. Using PID control mode,the separate control and coordinated control of EPS and ABS are simulated,and then the hardware-in-loop experiment is used to verify. The result is that the comprehen-sive performance of the vehicle in the turning braking condition is improved by the coordinated control.%针对汽车电动助力转向和防抱死制动系统在转弯制动工况中的相互干扰问题，建立7自由度整车模型和EPS多体动力学模型，设计了EPS和ABS两个子控制器以及具有上层协调控制功能的协调控制系统，采用PID控制方式，在Matlab/Simulink系统中，对EPS和ABS的单独控制和协调控制分别仿真，然后采用硬件在环实验验证，结果表明，采用协调控制后，汽车在转弯制动工况下的综合性能得到改善。