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| Simulation of ESP control system based on seven degree freedoms vehicle model |
| 1.State Key Laboratory of Automobile Dynamics Simulation, Jilin University， Changchun, Jilin 130025, China; 2.School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing， Jiangsu 210094, China; 3.Department of Ships and Harbor Engineering, Jiangsu Maritime Institute, Nanjing， Jiangsu 211170, China) |
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Abstract By magic formula, tire longitudinal force and lateral force mathematics models were built, and the mechanical properties at pure tire condition were completely expressed. Seven degree freedoms vehicle model with ESP control system was researched. By using simulation software of Matlab/Simulink, a vehicle dynamic model which contains elements of engine, brakes, tire model and vehicle body systems was established. The basic principles and control strategy of vehicle stability were theoretically designed by using fuzzy parameters of PID control method. According to ISO 3888, the vehicle handling simulation was conducted under double lane change and other limit driving conditions. The result shows when difference between yaw acceleration and nominal value yaw acceleration is over a certain range, the ESP control system brakes the controlled wheel, and limits the increase of sideslip angle. The vehicle lateral acceleration could be effectively controlled by steering wheel with good trajectory following and vehicle handling stability could be significantly improved.
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2011, Vol. 32 
