汽车行驶稳定性主动控制研究

山东科技大学博士（硕士）学位论文improve,ESP has been more and more widely used in modern automobile,improvethe car the safety and stability has obvious effect,will become the standardconfiguration of the modern automobile,the major automobile manufacturers andresearch institutions have begun the research work.According to the ABS's active power control system of prefabricated dry systembased on ESP(ABS anti lock braking system)and active yaw moment control systemis studied,the control strategy and performance evaluation methods focus on ABS andthe research of the system,aiming at the difficult design of measuring sideslip angleestimation algorithm,a recognition algorithm and road adhesion conditions,on thebasis of on the yaw rate and sideslip angle feedback control of yaw moment controlstrategy and the system of the ABS system;secondly,on the basis of the aboveresearch,put forward ABS and the coordinated control strategy in the side,let thelongitudinal dynamic stability of the chassis of the vehicle is in the limit The controlstrategy under the condition of rapid prototyping technology;platform test set uphardware of the vehicle brake system based on ABS is designed in the loop simulationverify the two coordinated control algorithm hardware;finally,combined with thespecific characteristics of vehicle dynamics principle and system of the performanceevaluation of ABS system,combined with the hardware in the loop test,validity theevaluation method is verified.The paper includes:(1)ABS control strategyA variable structure controller based on sliding mode variable structure controlchattering in traditional sliding mode,sliding mode reaching law sliding modevariable structure control strategy based on ABS,and applied to the basic ABS controlstrategy design,braking distance and direction stability on the basis of the principle ofquality control to improve the pavement conditions,yaw angular velocity feedbackloop control strategy the single round of ABS ABS design based on predictive value,ensure the stability of automobile direction under the premise,as far as possible toshorten the braking distance,improve the control performance of the ABS.(2)coordination of ABS and the control strategyThe ABS system is the active intervention of vehicle active safety control system