【作者】 孙颖；

【导师】 杨英；

【作者基本信息】 东北大学 ， 车辆工程， 2008， 硕士

【摘要】 汽车电子稳定系统是目前车辆主动安全领域研究的热点,它是继汽车防抱死制动系统(ABS)和驱动防滑系统(ASR)发展起来的。不仅整合了ABS和ASR的所有功能,而且还能在更加复杂的工况下提高车辆的稳定性。随着技术的进步和成本的降低,汽车电子稳定系统将成为现代轿车的标准配备。在我国,对汽车稳定性控制系统的研究工作处于起步阶段,开展汽车电子稳定系统的研究对于掌握自主知识产权、打破国外技术垄断具有重要的意义。首先,本文考虑了轮胎的非线性特性对汽车的转向特性与行驶稳定性的重要影响,采用非线性轮胎模型(魔术公式),计算侧向力,在此基础上建立了二自由度四轮汽车模型及汽车参考模型。其次,本文通过对车辆失稳原因进行研究,得到了质心侧偏角和横摆角速度这两个影响车辆稳定性的主要参数,并选择这两个参数作为稳定性控制的主要控制变量,深入分析了两种控制变量与车辆稳定性的关系。再次,研究汽车稳定性的控制算法,采用一种基于横摆力矩直接控制的汽车稳定性控制算法,并根据汽车的横摆角速度和汽车的质心侧偏角这两个描述汽车运动状态的重要参数,得出三种具有针对性的控制策略。最后,通过以上模型的建立,汽车失稳原因的研究,控制变量的选择和控制算法的研究,建立MATLAB/SIMULINK仿真模块,通过前轮阶跃输入,单周期正弦输入和多周期正弦输入,对质心侧偏角PID控制,横摆角速度PID控制和模糊PID控制方法进行仿真研究,研究表明这三种控制方法可以很好的控制汽车的质心侧偏角和横摆角速度,提高汽车的稳定性。更多还原

【Abstract】 In recent years, the research on electronic stability program is the focus in vehicle active safety research field, which is developed after antilock braking system and traction control system. It not only contains all the functions of ABS and ASR, but also improves the vehicle stability in more critical conditions. With the development of technology and the reduction of cost, ESP system will be the standard equipment of the modern cars. While in china, the research in this field is at the very beginning, so this kind of research is of great significance to master our own intellectual property rights, and break the monopoly of foreign technology.Firstly, the paper considered the important influence of nonlinear characteristics of tire on cornering characteristics and driving stability of vehicle was considered at first. The nonlinear tire model (Magic Formula) was adopted, and the four wheels vehicle model with two degrees of freedom and vehicle reference model were set up on this basis.Secondly, through the research on the causes of vehicles’instability, the paper gained the main stability parameters of vehicles, then through the studying on the vehicle stability control system in theory, the side slip angle and yaw rate are chosen to be the main control variables, then the relation between them are analyzed deeply.Thirdly, the paper researched on vehicle stability control algorithms, adopting a control algorithms based on the yaw torque directly control of the vehicle stability, and in accordance with the two important parameters which is to describe automotive’movement status-the yaw rate and the side slip angle, respectively pushed out three targeted control strategy.Finally, through the establishment of the model, the study of vehicle non-stability reason, the choice of control parameter and the research of control method, the paper established MATLAB/SIMULINK simulation modules, through the step input, single-cycle sine input and multi-cycle sine input of the front-wheels, to simulate the side slip angle PID control, yaw rate PID and fuzzy PID control methods. And research shows that the three methods can well control the vehicle side slip angle and yaw rate, so as to improve the vehicle stability.更多还原