基于轮胎力动态估计与主动转向的新型ESP系统
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摘要
车辆电子稳定系统能有效提高车辆在极限工况下的方向稳定性.针对传统直接横摆力矩控制(DYC)没有考虑轮胎附着力极限的局限,提出一种基于轮胎动力动态估计(TDE)算法的新型车辆电子稳定控制系统(ESP),在此基础上,通过主动前轮转向(AFS)协同控制,最大化利用车轮附着力.采用多元回归统计算法设计TDE控制器,采用基于统计数据的多项式拟合获得车轮附着力边界极限和最优动态滑移率上限值;采用模糊逻辑算法设计AFS控制器,补偿因附着力达到极限引起的横摆力矩不足.仿真结果表明,通过与AFS的协同控制,新型ESP能够在改善车辆的方向稳定性的同时,大幅降低车轮制动控制力,减少对车辆纵向速度的影响.
The vehicle Electronic Stability Program(ESP)can effectively improve the vehicle stability under extreme driving condition.However,traditional Direct Yaw Control(DYC)does not consider the adhesive limitation of tire forces.In order to overcome this shortage,a novel ESP algorithm was proposed based on Tire Dynamic Force Estimation(TDE)in this paper.Combined with Active Front Steering(AFS),this algorithm can make the maximum use of available tire forces.Based on multiple variables regression algorithm and polynomial fitting,a TDE controller was designed to obtain the tire adhesive boundary and the upper limit of optimal dynamic slip ratio.Based on fuzzy logic algorithm,an AFS controller was designed to compensate the insufficient yaw moment caused by adhesive forces limitation.This developed algorithm was verified through simulations,and the results show that the proposed novel ESP can significantly enhance the cornering stability by collaborative control with the AFS.Meanwhile,the proposed algorithm can significantly reduce active braking force of the wheels and alleviate undesired impact on the vehicle longitudinal speed.
The vehicle Electronic Stability Program(ESP)can effectively improve the vehicle stability under extreme driving condition.However,traditional Direct Yaw Control(DYC)does not consider the adhesive limitation of tire forces.In order to overcome this shortage,a novel ESP algorithm was proposed based on Tire Dynamic Force Estimation(TDE)in this paper.Combined with Active Front Steering(AFS),this algorithm can make the maximum use of available tire forces.Based on multiple variables regression algorithm and polynomial fitting,a TDE controller was designed to obtain the tire adhesive boundary and the upper limit of optimal dynamic slip ratio.Based on fuzzy logic algorithm,an AFS controller was designed to compensate the insufficient yaw moment caused by adhesive forces limitation.This developed algorithm was verified through simulations,and the results show that the proposed novel ESP can significantly enhance the cornering stability by collaborative control with the AFS.Meanwhile,the proposed algorithm can significantly reduce active braking force of the wheels and alleviate undesired impact on the vehicle longitudinal speed.
引文
[1]JIN X,YIN G,BIAN C,et al.Robust gain-scheduled vehicle handling stability control via integration of active front steering and suspension systems[J].Journal of Dynamic Systems Measurement&Control,2016,138(1):014501(1)-014501(12).
[2]ZHAO J,WONG P K,MA X,et al.Chassis integrated control for active suspension,active front steering and direct yaw moment systems using hierarchical strategy[J].Vehicle System Dynamics,2017,55(1):72-103.
[3]陈无畏,杨军,汪洪波,等.基于功能分配的EPS与ESP集成协调控制[J].机械工程学报,2015,51(16):1-10.CHEN W W,YANG J,WANG H B,et al.Coordinated control of EPS and ESP based on function allocation[J].Journal of Mechanical Engineering,2015,51(16):1-10.(In Chinese)
[4]陈无畏,周慧会,刘翔宇.汽车ESP与ASS分层协调控制研究[J].机械工程学报,2009,45(8):190-196.CHEN W W,ZHOU H H,LIU X Y.Simulation research on layered coordinated control of automotive ESP and ASS[J].Journal of Mechanical Engineering,2009,45(8):190-196.(In Chinese)
[5]宋宇,陈无畏,陈黎卿.车辆稳定性系统与四轮转向系统集成控制研究[J].中国机械工程,2014(20):2788-2794.SONG Y,CHEN W W,CHEN L Q.Study on integrated control of vehicle stability system and four wheel steering system[J].Chinese Journal of Mechanical Engineering,2014(20):2788-2794.(In Chinese)
[6]LI B,YU F.Design of a vehicle lateral stability control system via a fuzzy logic control approach[J].Proceedings of the Institution of Mechanical Engineers,Part D:Journal of Automobile Engineering,2010,224(3):313-326.
[7]周兵,田晨,宋义彤,等.基于路面附着系数估计的AFS控制策略研究[J].湖南大学学报(自然科学版),2017,44(4):16-22.ZHOU B,TIAN C,SONG Y T,et al.Control strategy of AFS based on estimation of tire-road friction coefficient[J].Journal of Hunan University(Natural Sciences),2017,44(4):16-22.(In Chinese)
[8]WANG L,TAN L,AN L H,et al.Study on the ESP system based on fuzzy logic PID control and multibody dynamics[J].Journal Electrical Systems,2012,8(1):57-75.
[9]丁海涛,郭孔辉,陈虹.汽车稳定性控制中横摆力矩决策的LQR方法[J].吉林大学学报(工学版),2010,40(3):597-601.DING H T,GUO K H,CHEN H.LQR method for vehicle yaw moment decision in vehicle stability control[J].Journal of Jilin University(Engineering and Technology),2010,40(3):597-601.(In Chinese)
[10]李道飞,喻凡.基于最优轮胎力分配的车辆动力学集成控制[J].上海交通大学学报,2008,42(6):887-891.LI D F,YU F.Integrated vehicle dynamics controller design based on optimum tire force distribution[J].Journal of Shanghai Jiaotong University,2008,42(6):887-891.(In Chinese)
[11]LI L,JIA G,CHEN J,et al.A novel vehicle dynamics stability control algorithm based on the hierarchical strategy with constrain of nonlinear tyre forces[J].Vehicle System Dynamics,2015,53(8):1093-1116.
[12]MOKHIAMAR O,ABE M.How the four wheels should share forces in an optimum cooperative chassis control[J].Control Engineering Practice,2006,14(3):295-304.
[13]XU G Z.Investigation to the ride and handling of vehicle with interconnected suspensions[D].Sydney:Faculty of Engineering and Information Technology,University of Technology,2016:69-79.
[14]PACEJKA H B.Tire and vehicle dynamics[M].3rd ed.Oxford:Butterworth Heinemann Publications,2012:196-190.
[15]黄智,刘剑,吴乙万.基于纵向滑移率均衡的车道偏离辅助控制研究[J].湖南大学学报(自然科学版),2016,43(2):1-7.HUANG Z,LIU J,WU Y W.Research on balanced longitudinal slip rate based lane departure assistance[J].Journal of Hunan University(Natural Sciences),2016,43(2):1-7.(In Chinese)
[16]袁希文,文桂林,周兵.分布式电驱动汽车AFS与电液复合制动集成控制[J].湖南大学学报(自然科学版),2016,43(2):28-35.YUAN X W,WEN G L,ZHOU B.Integrated control of active front steering and motor/hydraulic hybrid braking in distributed electric drive vehicles[J].Journal of Hunan University(Natural Sciences),2016,43(2):28-35.(In Chinese)
[17]ZHANG B,DU H,LAM J,et al.A novel observer design for simultaneous estimation of vehicle steering angle and sideslip angle[J].IEEE Transactions on Industrial Electronics,2016,63(7):4357-4366.
[18]JIA G,LI L,CAO D.Model-based estimation for vehicle dynamics states at the limit handling[J].Journal of Dynamic Systems Measurement&Control,2015,137(10):1-8.
[19]GRIP H,FJ V,IMSLAND L,et al.Nonlinear vehicle side-slip estimation with friction adaptation[J].Automatica,2008,44(3):611-622.
[20]LI H,ZHAO Y,WANG H,et al.Design of an improved predictive LTR for rollover warning systems[J].Journal of the Brazilian Society of Mechanical Sciences&Engineering,2017(45):1-13.
[21]陈焕明,郭孔辉.基于航向角和位置偏差控制的驾驶员模型[J].农业机械学报,2013,44(10):36-40.CHEN H M,GUO K H.Driver model based on heading angle and position deviation control[J].Transactions of the Chinese Society of Agricultural Machinery,2013,44(10):36-40.(In Chinese)
[22]ISO 3888-1.Passenger cars-Test track for a severe lanechange manoeuvre-Part 2:Obstacle avoidance[S].Britsh:ISO,2002.
[2]ZHAO J,WONG P K,MA X,et al.Chassis integrated control for active suspension,active front steering and direct yaw moment systems using hierarchical strategy[J].Vehicle System Dynamics,2017,55(1):72-103.
[3]陈无畏,杨军,汪洪波,等.基于功能分配的EPS与ESP集成协调控制[J].机械工程学报,2015,51(16):1-10.CHEN W W,YANG J,WANG H B,et al.Coordinated control of EPS and ESP based on function allocation[J].Journal of Mechanical Engineering,2015,51(16):1-10.(In Chinese)
[4]陈无畏,周慧会,刘翔宇.汽车ESP与ASS分层协调控制研究[J].机械工程学报,2009,45(8):190-196.CHEN W W,ZHOU H H,LIU X Y.Simulation research on layered coordinated control of automotive ESP and ASS[J].Journal of Mechanical Engineering,2009,45(8):190-196.(In Chinese)
[5]宋宇,陈无畏,陈黎卿.车辆稳定性系统与四轮转向系统集成控制研究[J].中国机械工程,2014(20):2788-2794.SONG Y,CHEN W W,CHEN L Q.Study on integrated control of vehicle stability system and four wheel steering system[J].Chinese Journal of Mechanical Engineering,2014(20):2788-2794.(In Chinese)
[6]LI B,YU F.Design of a vehicle lateral stability control system via a fuzzy logic control approach[J].Proceedings of the Institution of Mechanical Engineers,Part D:Journal of Automobile Engineering,2010,224(3):313-326.
[7]周兵,田晨,宋义彤,等.基于路面附着系数估计的AFS控制策略研究[J].湖南大学学报(自然科学版),2017,44(4):16-22.ZHOU B,TIAN C,SONG Y T,et al.Control strategy of AFS based on estimation of tire-road friction coefficient[J].Journal of Hunan University(Natural Sciences),2017,44(4):16-22.(In Chinese)
[8]WANG L,TAN L,AN L H,et al.Study on the ESP system based on fuzzy logic PID control and multibody dynamics[J].Journal Electrical Systems,2012,8(1):57-75.
[9]丁海涛,郭孔辉,陈虹.汽车稳定性控制中横摆力矩决策的LQR方法[J].吉林大学学报(工学版),2010,40(3):597-601.DING H T,GUO K H,CHEN H.LQR method for vehicle yaw moment decision in vehicle stability control[J].Journal of Jilin University(Engineering and Technology),2010,40(3):597-601.(In Chinese)
[10]李道飞,喻凡.基于最优轮胎力分配的车辆动力学集成控制[J].上海交通大学学报,2008,42(6):887-891.LI D F,YU F.Integrated vehicle dynamics controller design based on optimum tire force distribution[J].Journal of Shanghai Jiaotong University,2008,42(6):887-891.(In Chinese)
[11]LI L,JIA G,CHEN J,et al.A novel vehicle dynamics stability control algorithm based on the hierarchical strategy with constrain of nonlinear tyre forces[J].Vehicle System Dynamics,2015,53(8):1093-1116.
[12]MOKHIAMAR O,ABE M.How the four wheels should share forces in an optimum cooperative chassis control[J].Control Engineering Practice,2006,14(3):295-304.
[13]XU G Z.Investigation to the ride and handling of vehicle with interconnected suspensions[D].Sydney:Faculty of Engineering and Information Technology,University of Technology,2016:69-79.
[14]PACEJKA H B.Tire and vehicle dynamics[M].3rd ed.Oxford:Butterworth Heinemann Publications,2012:196-190.
[15]黄智,刘剑,吴乙万.基于纵向滑移率均衡的车道偏离辅助控制研究[J].湖南大学学报(自然科学版),2016,43(2):1-7.HUANG Z,LIU J,WU Y W.Research on balanced longitudinal slip rate based lane departure assistance[J].Journal of Hunan University(Natural Sciences),2016,43(2):1-7.(In Chinese)
[16]袁希文,文桂林,周兵.分布式电驱动汽车AFS与电液复合制动集成控制[J].湖南大学学报(自然科学版),2016,43(2):28-35.YUAN X W,WEN G L,ZHOU B.Integrated control of active front steering and motor/hydraulic hybrid braking in distributed electric drive vehicles[J].Journal of Hunan University(Natural Sciences),2016,43(2):28-35.(In Chinese)
[17]ZHANG B,DU H,LAM J,et al.A novel observer design for simultaneous estimation of vehicle steering angle and sideslip angle[J].IEEE Transactions on Industrial Electronics,2016,63(7):4357-4366.
[18]JIA G,LI L,CAO D.Model-based estimation for vehicle dynamics states at the limit handling[J].Journal of Dynamic Systems Measurement&Control,2015,137(10):1-8.
[19]GRIP H,FJ V,IMSLAND L,et al.Nonlinear vehicle side-slip estimation with friction adaptation[J].Automatica,2008,44(3):611-622.
[20]LI H,ZHAO Y,WANG H,et al.Design of an improved predictive LTR for rollover warning systems[J].Journal of the Brazilian Society of Mechanical Sciences&Engineering,2017(45):1-13.
[21]陈焕明,郭孔辉.基于航向角和位置偏差控制的驾驶员模型[J].农业机械学报,2013,44(10):36-40.CHEN H M,GUO K H.Driver model based on heading angle and position deviation control[J].Transactions of the Chinese Society of Agricultural Machinery,2013,44(10):36-40.(In Chinese)
[22]ISO 3888-1.Passenger cars-Test track for a severe lanechange manoeuvre-Part 2:Obstacle avoidance[S].Britsh:ISO,2002.