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汽車(chē)電子穩(wěn)定性控制系統(tǒng)設(shè)計(jì)

2018-12-10 22:18:51·  來(lái)源：洞云書(shū)屋  
　
（注：本文是譯文，original author:Youseok Kou）The ESC system controls the braking forces of the four tires to stabilize the vehicle motions based on
（注：本文是譯文，original author: Youseok Kou）
The ESC system controls the braking forces of the four tires to stabilize the vehicle motions based on its working principle shown in
ESC系統(tǒng)根據(jù)其工作原理控制四個(gè)輪胎的制動(dòng)力以穩(wěn)定車(chē)輛運(yùn)動(dòng)。
 
Figure 2.6. The functionalities of the ESC system are based on the follow objectives: i) following of the desired yaw rate, ii) regulation of the vehicle sideslip, iii) rollover prevention and iv) the slip control of the wheels. The controller uses sensor information for the four wheel speeds, lateral acceleration, steering input, roll angle and yaw-rate to detect the vehicle motions and to judge the driver’s intention. based on the above information, the controller derives the optimal braking force of four wheels and generates them independently.
ESC系統(tǒng)的功能是基于以下目標(biāo)：I）跟隨期望的偏航率，II）車(chē)輛側(cè)滑的調(diào)節(jié)，III）防側(cè)翻和IV）車(chē)輪的滑移控制?？刂破魇褂玫膫鞲衅餍畔樗妮喫俣?、橫向加速度、轉(zhuǎn)向輸入、側(cè)傾角和橫擺率來(lái)檢測(cè)車(chē)輛運(yùn)動(dòng)并判斷駕駛員意圖。基于上述信息，控制器分別得到四個(gè)車(chē)輪的最優(yōu)制動(dòng)力。
The switching rule will be derived to activate corresponding ESC control modules defined as i) wheel slip control, ii) yaw moment control, iii) side slip control, and iv) rollover prevention control. The control modules are active when control values crossed predefined thresholds as explained below.
切換規(guī)則基于相應(yīng)激活的ESC控制模塊，定義為I）車(chē)輪滑移控制，II）橫擺力矩控制，III）側(cè)滑控制，和IV）防側(cè)翻控制。當(dāng)控制值達(dá)到預(yù)定義閾值時(shí)，控制模塊激活如下所述。
 
The ESC controller needs servo-control algorithm to overcome the parametric uncertainties and un-modeled dynamics. This sub-section will present a sliding mode control algorithm, which calculates the braking torque necessary to achieve other desired vehicle states and the desired longitudinal slip ratios.
ESC控制器需要伺服控制算法來(lái)克服參數(shù)不確定性和未建模動(dòng)態(tài)。本文提出一種滑動(dòng)模型控制算法，該算法計(jì)算達(dá)到車(chē)輛狀態(tài)和縱向滑移率所需的制動(dòng)力矩。
The SMC is applied as the robust servo-control. Before implementation of the controller, the control vehicle model is recomposed. The braking force is defined as the control input as shown in Eq. (2.21). The model is derived from the linear form using Eq.(2.17), which represents the linear vehicle body model with respect to the steering input. 
將SMC應(yīng)用于魯棒伺服控制。在控制器的實(shí)現(xiàn)之前，重構(gòu)控制車(chē)輛模型。制動(dòng)力Fx被定義為控制輸入。該模型是從線性形式導(dǎo)出的，它表示相對(duì)于轉(zhuǎn)向輸入的線性車(chē)身模型。
A nonlinear 3-DOF vehicle model is developed, and the verification procedure shows it to be a good approximation of a sport utility vehicle. This nonlinear model captures the lateral-yaw-roll motions of the vehicle with difference less than 10 [%] from the CarSim model. Its simplicity and accuracy make it suitable for application to the sliding mode control design of the ESC.
 
開(kāi)發(fā)了一個(gè)非線性的三維車(chē)輛模型，驗(yàn)證程序表明它是一個(gè)很好的近似運(yùn)動(dòng)型多用途車(chē)。該非線性模型從CARSIM模型捕獲差分小于10 [%]的車(chē)輛橫向偏航橫搖運(yùn)動(dòng)。它的簡(jiǎn)單性和準(zhǔn)確性使其適用于ESC的滑動(dòng)模型控制設(shè)計(jì)。
The ICC system developed and studied in this research includes an electronic stability control (ESC) system, a rear wheel steer (RWS) system and a continuous damping control (CDC) system. The RWS and the CDC in this study serve as “place holder” algorithms. In other words, they were developed to approximate mature systems for intended production. The ESC algorithm, designed via the SMC scheme, includes a rollover prevention strategy as well as lateral/yaw motion control.
 
本研究開(kāi)發(fā)的ICC系統(tǒng)包括電子穩(wěn)定控制（ESC）系統(tǒng)、后輪轉(zhuǎn)向（RWS）系統(tǒng)和連續(xù)阻尼控制（CDC）系統(tǒng)。在這項(xiàng)研究中的RWS和CDC作為“位置持有者”算法。換言之，它們被開(kāi)發(fā)成近似于預(yù)期生產(chǎn)的成熟系統(tǒng)。ESC算法，通過(guò)SMC方案設(shè)計(jì)，包括防側(cè)翻策略以及橫向/偏航運(yùn)動(dòng)控制。
The ESC and the RWS systems demonstrate their effectiveness in achieving enhanced vehicle stability by their performance in the NHTSA sine-with-dwell tests.
ESC和RWS系統(tǒng)證明了它們?cè)贜HTSA正弦和駐留測(cè)試中的性能在增強(qiáng)車(chē)輛穩(wěn)定性方面的有效性。
One significant finding derived from the simulation results is that while two independently designed chassis control systems improve vehicle performance when they work alone, the combined system does not consistently produce satisfactory results when the systems are not coordinated. This simple example shows the importance of the coordination in the development of ICC.
 
從仿真結(jié)果得出的一個(gè)重要發(fā)現(xiàn)是，當(dāng)兩個(gè)獨(dú)立設(shè)計(jì)的底盤(pán)控制系統(tǒng)在單獨(dú)工作提高車(chē)輛性能時(shí)，組合系統(tǒng)在系統(tǒng)不協(xié)調(diào)一致時(shí)不能產(chǎn)生令人滿意的結(jié)果。這個(gè)簡(jiǎn)單的例子說(shuō)明了協(xié)調(diào)在開(kāi)發(fā)中的重要性。 
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