【作者】 刘浩；

【导师】 林柏忠；

【作者基本信息】 吉林大学 ， 车辆工程（专业学位）， 2016， 硕士

【摘要】 汽车电子稳定程序(Electronic Stability Program,ESP)是汽车重要的底盘电子系统,能够提高汽车的稳定性和安全性。V字形开发流程已成为汽车电控系统的主流开发方法,硬件在环仿真是ESP开发过程中的重要一环。硬件在环仿真能够不受天气影响,也避免了极端工况下实车试验的危险,因此开发一款高性能的ESP硬件在环试验台对于ESP控制策略的设计与评价研究十分必要。ESP控制策略的设计与客观评价密不可分,ESP客观评价对控制策略的设计起到了指导作用。但是当前ESP客观评价体系还不完善,ESP的控制效果也有待于提高。本文拟采用硬件在环仿真的手段对ESP控制策略和客观评价进行研究,以提高ESP的控制效果,完善当前ESP客观评价体系。本文依托于吉林省科技厅重点科技攻关项目“重型车辆电控气压制动系统开发与匹配”(编号:20150204066GX)。结合ESP的发展现状,在分析总结国内外ESP控制策略及客观评价研究的基础上,本文基于搭建的ESP硬件在环试验台进行了控制策略设计和ESP客观评价研究。本文的研究工作分为以下几个方面:(1)ESP硬件在环试验台的设计与搭建。在调研国内外ESP硬件在环试验台的结构、工作原理后,本文提出了ESP硬件在环试验台的总体方案。ESP硬件在环试验台整体分为驾驶模拟器、制动试验台和操作台三部分。本文说明了三个部分的工作原理,对硬件在环试验台主要部件的选取和匹配原则进行了研究。(2)ESP控制策略的设计。在Car Sim软件中建立了整车动力学模型,并设置了用于ESP仿真试验的工况。基于遗传算法,对线性二自由度参考模型的前后轴等效侧偏刚度进行了辨识。为了提高控制策略的鲁棒性,建立了多变量一维模糊控制器对理想的横摆力矩进行决策,本文还对ESP底层控制策略进行了研究。(3)ESP客观评价研究。针对当前客观评价指标不够丰富的问题,本文基于相平面分析提出了ESP客观评价指标,丰富了传统的ESP评价指标。在分析常见的ESP评价工况后,从考察ESP功能的角度,选定了正弦延迟试验、加速定圆试验、鱼钩试验、双移线及蛇形试验作为ESP的评价工况,并确定了每个试验对应的评价指标,形成了一套完整的ESP客观评价体系。该客观评价体系不仅能够用于硬件在环仿真阶段的控制策略评价,对后期的实车试验客观评价也具有参考借鉴意义。(4)进行ESP硬件在环试验并对ESP控制策略评价。根据ESP客观评价体系,在ESP硬件在环试验台上逐一进行了ESP评价试验。将ESP开启和关闭时候的试验数据按照评价指标提取,对ESP控制策略进行了评价。评价结果表明:本文开发的ESP提高了汽车的操纵稳定性,能够有效应对多种失稳工况。最后ESP硬件在环试验台的功能也得到了验证。更多还原

【Abstract】 ESP(Electronic Stability Program) is an important electronic system for vehicle, which can improve vehicle’s stability and safety. The V shape development process has become mainstream development method of automotive electronic control system, Hardware-in-loop simulation is an important part of ESP development process. ESP Hardware-in-loop simulation is not affected by the weather and avoids the risk of vehicle test under extreme conditions, therefore, it’s very necessary for the design and evaluation of ESP control strategy to develop an ESP Hardware-in-loop test bench with high performance. ESP objective evaluation and the design of ESP control strategy are inseparable, ESP objective evaluation plays guiding role for the design of control strategy. But the current ESP objective evaluation system is not perfect, the ESP control effect needs to be improved. In order to improve ESP control effect and perfect ESP objective evaluation, this paper studies ESP control strategy and objective evaluation through Hardware-in-loop simulation method.After analyzing and summarizing current research status of ESP control strategy and objective evaluation at home and abroad, this paper makes a research on ESP control strategy and objective evaluation based on Hardware-in-loop test bench. The research work of this paper contains the following aspects:(1) Designing and building ESP Hardware-in-loop test bench. After investigating the structure and working principle of ESP Hardware-in-loop test bench at home and abroad, this paper put forward the scheme of ESP Hardware-in-loop test bench. In this scheme, the ESP Hardware-in-loop test bench consists of three parts, which are driving simulator, brake test bench and the operation desk. This paper illustrates the working principle of the three part, the selection principle of main components is also studied in this paper.(2) Designing of ESP control strategy. Vehicle dynamics model is built and simulation conditions are set in Car Sim software. Front and rear axle’s equivalent lateral stiffness of two degrees freedom reference model is identified based on the genetic algorithm. In order to improve the robustness of ESP control strategy, one dimension fuzzy controller with multiple input variables is built to calculate the ideal yaw moment. The bottom level strategy of ESP is also studied in this paper.(3) Study of ESP objective evaluation system. As the ESP objective evaluation index is not rich, an objective evaluation index is introduced based on phase plane analysis, which enriches the traditional ESP evaluation index. After analyzing common ESP evaluation conditions, from the point of reviewing ESP function, this paper selects sine with dwell test, circle test, fishhook test, double lane change test and slalom test as the ESP evaluation test. Then the corresponding evaluation index of each test is determined, the ESP objective evaluation system is formed. The objective evaluation system can be used to evaluate the control strategy at Hardware-in-loop simulation stage, it will be reference for the objective evaluation at vehicle test stage.(4) Carrying out ESP Hardware-in-loop test and evaluating ESP control strategy. According to the ESP objective evaluation system put forward in this paper, each ESP evaluation test is carried out on test bench. Test data when ESP is on and off is extracted according to the evaluation index, and ESP control strategy is evaluated based on the extracted data. The evaluation results show that ESP developed by this paper improves the vehicle’s handling stability and it can effectively cope with various destabilizing conditions. Finally, the function of ESP Hardware-in-loop test bench is also verified.更多还原