采用横摆角速度和路面附着系数联合控制的ESP研究

摘要

以理想二自由度汽车模型为基础,运用PID控制法构建以路面附着系数为前馈控制变量、以横摆角速度偏差为反馈控制变量的汽车电子稳定性联合控制系统；选用ADAMS和MATLAB软件进行道路虚拟仿真,结果表明,汽车电子稳定性联合控制系统能够使汽车较快地适应路面附着系数的变化,有效地抑制横摆角速度,从而增强汽车的操纵稳定性.%Based on 2-DOF vehicle model,the control system of Electronic Stability Program (ESP) was built with PID control. In the system,load adhesion coefficient was feedforward control variable and yaw velocity was feedback control variable. Then combined controlled ESP was simulated with ADAMS and MATLAB. The simulation results showed that the combined control system can make vehicle adapt to the change of road adhesion coefficient and restrain yaw velocity and strengthen stability of vehicle.