汽车稳定性控制系统分层优化控制研究
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摘要
近年来汽车在全世界范围内迅速普及，在提高了人们的生活水平并促进社会发展的同时，也带来了包括交通安全在内的一系列社会问题。汽车稳定性控制系统(Electronic StabilityControl, ESC)可以有效降低交通事故的发生率，是汽车主动安全控制领域的一项最新科技。它通过对制动力控制产生合适的横摆力矩，在极限工况下也能保持汽车的行驶稳定性。本文针对ESC控制理论与方法展开深入的理论和试验研究。
论文首先回顾ESC系统的发展，介绍ESC的基本工作原理，说明ESC控制系统中采用的上层运动控制器与底层压力控制器的分层结构，并总结目前国内外的研究现状。
在veDYNA中基于Simulink开发环境建立非线性整车模型，在“人-车-路”闭环系统里通过仿真分析汽车失稳的原因。将非线性整车模型的仿真结果与线性二自由度模型的仿真结果进行对比，探讨二自由度模型在ESC控制器设计中存在的不足，说明在上层运动控制器设计中引入自适应侧偏刚度的必要性。
状态参数估计是ESC控制系统设计中的一项重要内容。前、后轴线性侧偏刚度在汽车的使用周期内往往发生变化，为此提出仅依据车载传感器配置的线性侧偏刚度估计方法。针对轮胎在大侧偏角下侧向力饱和的特点，引入自适应侧偏刚度准确描述非线性区域内轮胎的侧向力，通过对轮胎侧向力的估计建立自适应侧偏刚度的估计模型，并以此优化汽车质心侧偏角的估计。
分析汽车在线性区域内的稳定转向特性以及汽车的轮胎特性变化对稳定转向特性的影响。在上层运动控制器中采用前馈加反馈的控制结构，通过前馈控制优化轮胎特性发生变化时的ESC控制效果。采用多模型控制理论进行反馈控制器设计，以自适应侧偏刚度为切换参数，设计具有鲁棒自适应特性的全局控制器进一步优化ESC反馈控制的性能。在底层压力控制器中，针对电子液压制动系统(Electro Hydraulic Brake, EHB)的液压执行器，采用广义预测控制理论(Generalized Predictive Control,GPC)进行底层制动压力控制器的设计。
在对比研究国内外ESC试验台的基础上，采用基于NI PXI与veDYNA的ESC驾驶员在环试验台解决方案，构成了完整的“人―车―环境”闭环驾驶环境，并通过快速原型的开发方法对提出的ESC上层运动控制器的控制效果进行了验证。同时该试验台也能为实际产品的开发打下一定的基础，有利于提高开发的效率。
In recent years automobiles have been popularized rapidly in the worldwide. Automobilespromote the living standard of people and the social development, but at the same time they alsobring a series of social problems including traffic safety. Electronic Stability Control(ESC) caneffectively reduce the incidence of traffic accidents which is the newest technology in the field ofactive safety. By controlling the braking force to produce the adequate yaw moment, it can keep thestability of the automobiles even in the extreme conditions. This thesis focuses on the research ofESC control theory and method and also the experiment method in the development of ESC.
First the review of the development of ESC is given. The basic principle of ESC and the layeredcontrol structure is introduced, which consists of the upper motion controller and the bottompressure controller. The current research status at home and abroad is also presented.
Nonlinear vehicle model is established in veDYNA based on Simulink development environment.The cause of the car instability in extreme conditions is analyzed in the “driver-vehicle-road”closed-loop system by simulation test. The simulation results of the nonlinear model and the2DOFslinear model are compared. Then the deficiencies of the2DOFs linear model in the ESC controllerdesign is discussed, which shows that it is necessary to introduce the adaptive cornering stiffness inthe upper motion controller design.
Vehicle state estimation is an important research content in the ESC control system. Front/rearcornering stiffness always changes in the car life cycle. This thesis proposed an estimation method offront/rear cornering stiffness based on the available sensors in the car. In order to describe the tirelateral force accurately even when the tire sideslip angle is large, the adaptive cornering stiffness isintroduced in the estimation model by the estimated tire lateral force. This estimation model is alsoused to achieve the better estimation of vehicle sideslip angle.
The stable steering characteristic in the linear region and the influence of the changed tireproperties are analyzed. The feedback control coupled feedfroward control is utilized in the uppermotion controller. The performance of ESC with the changed tire properties is optimized. Themulti-model control theory is applied in the feedback controller design. Taking the adaptivecornering stiffness as switching parameter, the designed multi-model global controller can furtheroptimize the performance of ESC because of its robust and adaptive characteristic.
By comparing the existing ESC test bench domestic and overseas, the solution which is based onthe NI PXI and veDYNA is chosen. Then the entire “driver-vehicle-road” closed-loop driveenvironment is established. The proposed upper motion controller is verified by rapid control prototype in the ESC test bench. Meanwhile, this test bench system can also lay basis for thedevelopment of real product to increase efficiency.
论文首先回顾ESC系统的发展，介绍ESC的基本工作原理，说明ESC控制系统中采用的上层运动控制器与底层压力控制器的分层结构，并总结目前国内外的研究现状。
在veDYNA中基于Simulink开发环境建立非线性整车模型，在“人-车-路”闭环系统里通过仿真分析汽车失稳的原因。将非线性整车模型的仿真结果与线性二自由度模型的仿真结果进行对比，探讨二自由度模型在ESC控制器设计中存在的不足，说明在上层运动控制器设计中引入自适应侧偏刚度的必要性。
状态参数估计是ESC控制系统设计中的一项重要内容。前、后轴线性侧偏刚度在汽车的使用周期内往往发生变化，为此提出仅依据车载传感器配置的线性侧偏刚度估计方法。针对轮胎在大侧偏角下侧向力饱和的特点，引入自适应侧偏刚度准确描述非线性区域内轮胎的侧向力，通过对轮胎侧向力的估计建立自适应侧偏刚度的估计模型，并以此优化汽车质心侧偏角的估计。
分析汽车在线性区域内的稳定转向特性以及汽车的轮胎特性变化对稳定转向特性的影响。在上层运动控制器中采用前馈加反馈的控制结构，通过前馈控制优化轮胎特性发生变化时的ESC控制效果。采用多模型控制理论进行反馈控制器设计，以自适应侧偏刚度为切换参数，设计具有鲁棒自适应特性的全局控制器进一步优化ESC反馈控制的性能。在底层压力控制器中，针对电子液压制动系统(Electro Hydraulic Brake, EHB)的液压执行器，采用广义预测控制理论(Generalized Predictive Control,GPC)进行底层制动压力控制器的设计。
在对比研究国内外ESC试验台的基础上，采用基于NI PXI与veDYNA的ESC驾驶员在环试验台解决方案，构成了完整的“人―车―环境”闭环驾驶环境，并通过快速原型的开发方法对提出的ESC上层运动控制器的控制效果进行了验证。同时该试验台也能为实际产品的开发打下一定的基础，有利于提高开发的效率。
In recent years automobiles have been popularized rapidly in the worldwide. Automobilespromote the living standard of people and the social development, but at the same time they alsobring a series of social problems including traffic safety. Electronic Stability Control(ESC) caneffectively reduce the incidence of traffic accidents which is the newest technology in the field ofactive safety. By controlling the braking force to produce the adequate yaw moment, it can keep thestability of the automobiles even in the extreme conditions. This thesis focuses on the research ofESC control theory and method and also the experiment method in the development of ESC.
First the review of the development of ESC is given. The basic principle of ESC and the layeredcontrol structure is introduced, which consists of the upper motion controller and the bottompressure controller. The current research status at home and abroad is also presented.
Nonlinear vehicle model is established in veDYNA based on Simulink development environment.The cause of the car instability in extreme conditions is analyzed in the “driver-vehicle-road”closed-loop system by simulation test. The simulation results of the nonlinear model and the2DOFslinear model are compared. Then the deficiencies of the2DOFs linear model in the ESC controllerdesign is discussed, which shows that it is necessary to introduce the adaptive cornering stiffness inthe upper motion controller design.
Vehicle state estimation is an important research content in the ESC control system. Front/rearcornering stiffness always changes in the car life cycle. This thesis proposed an estimation method offront/rear cornering stiffness based on the available sensors in the car. In order to describe the tirelateral force accurately even when the tire sideslip angle is large, the adaptive cornering stiffness isintroduced in the estimation model by the estimated tire lateral force. This estimation model is alsoused to achieve the better estimation of vehicle sideslip angle.
The stable steering characteristic in the linear region and the influence of the changed tireproperties are analyzed. The feedback control coupled feedfroward control is utilized in the uppermotion controller. The performance of ESC with the changed tire properties is optimized. Themulti-model control theory is applied in the feedback controller design. Taking the adaptivecornering stiffness as switching parameter, the designed multi-model global controller can furtheroptimize the performance of ESC because of its robust and adaptive characteristic.
By comparing the existing ESC test bench domestic and overseas, the solution which is based onthe NI PXI and veDYNA is chosen. Then the entire “driver-vehicle-road” closed-loop driveenvironment is established. The proposed upper motion controller is verified by rapid control prototype in the ESC test bench. Meanwhile, this test bench system can also lay basis for thedevelopment of real product to increase efficiency.
引文
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