汽车ESP系统模型和模糊控制仿真

汽车电子稳定系统（electronic stability program, ESP）是行驶车辆的一种主动安全系统。它综合了制动防抱死系统，驱动力控制系统和横摆力矩控制系统使行驶车辆的安全性得到很大地提高。建立了七自由度整车模型、magic formula 轮胎模型以及车辆参考模型，采用车辆质心侧偏角的状态差异法，应用模糊控制理论设计了质心侧偏角反馈控制器，将建立的模糊控制器模型和汽车动力学模型组合起来，并通过前轮转角阶跃输入和正弦输入，在常见的易于失稳的湿滑路面上对典型工况进行仿真。结果表明：所设计的控制器可以很好地控制汽车的横摆角速度和质心侧偏角，提高了车辆的稳定性。

Dynamic model and simulation of fuzzy controlling for vehicle ESP

The electronic stability program (ESP) was introduced in this paper. It was an active safety system which consisted of anti braking system, traction control system and yaw moment control and could improve the safety of the vehicle. The 7-dof whole vehicle model, the magic formula (MF) tire model and vehicle reference model were built. Based on fuzzy control principle, the synthesized feedback control of vehicle side slip angle was designed by using the method of different states of side slip angle, and the fuzzy controller model and vehicle dynamics model were combined and simulated through the front wheel angle step input and sinusoidal input in the slippery road surface using typical operating conditions. The results show that the designed controller can effectively enhance the stability by controlling the yaw rate and side slip.