Co-simulation Research Of Vehicle Electronic Stability Program Based On CARSIM And MATLAB

Nowadays with the rapidly developing of automotive industry,the rise of the electronic industry and the fusion of traditional structure with cars turn the auto industry out a new leaf.As the new production of the combination between electronics and automobile,electronic stability program has come into our Chinese market gradually since the end of last century,which has greatly improved the driving stability of contemporary cars,especially in some extreme situations such as high speed and non-ideal road conditions(the road adhesion coefficient is small or the difference of four tire adhesion coefficients is large),ESP(electronic stability program)system could makes for the car a proper manner to avoid the running of oversteering or understeering in time,which makes the car run safely as the driver's intention in the largest extent regardless of the unnecessary risk factors because of the bad running actions above.Firstly,this paper confirm the two significant factors-yaw rate and slip angle which influenced the running stability according to the two degrees of freedom vehicle model as the control objects of follow-up studies.Secondly,the reason of trade secrets makes the data of the object of study not perfect,therefore model testing work seems to be more than necessary.So the article test the feasibility of the transfer function of two-degree freedom vehicle model in MATLAB and the vehicle running stability simulation model as well as ABS stability parameter test in CARSIM,.As a result,they turn out to be valid.Then the article ensure the method of the combination between DYC(Direct Yaw-rate Control)and PLC or fuzzy control as the control method of the study after the deduction of the desired yaw rate and slip angle as well as the design of their controller respectively.With two important desired parameters derived,the article use the PID and fuzzy control to assure the compensation value(the differences between the theoretical value and practical value)in the automobile real-time condition to keep the car normally running.This stage is mainly under the MATLAB/Simulink module for the design of PID controller and fuzzy controller.Finally,the article combine the mathematical and control model in the MATLAB/Simulink with the real-time vehicle model in CARSIM together to carry the joint simulation,and the simulation results show that the car drive stability with both the methods of PID and fuzzy could control effectively,but the simulation curves also show that when the road adhesion coefficient is low,the PID control effect is better than fuzzy control,on the contrary,when the adhesion coefficient is higher,fuzzy control seems to be better.when the road adhesion coefficients of four wheels are different,the effect of the two control methods are nearly the same.As a result,this research switch the control methods according to the adhesion coefficients to make the car drive stably in the best control effect.