Research On Vehicle Stability Control And Hardware-in-the-loop Test

As a control technology,the vehicle stability control system can assist the driver to complete a reasonable control of the vehicle dynamics response and effectively improving the active safety of vehicle.The system uses sensors to monitor and feedback the vehicle’s running status in real time.When the vehicle is unstable or has a tendency to instability,the control system controls the vehicle’s steering state by adjusting the braking force of the different wheels or engine output torque,and then stabilizes the vehicle state characterization parameters(yaw rate and sideslip angle)within the ideal range,ensure driving stability of the vehicle under extreme conditions.As people pay more and more attention to the vehicle’s active safety technology.It is increasingly important to research vehicle’s stability control system.Firstly,this paper analyzes the basic principles of the vehicle stability control system and establishes a vehicle dynamics model including a vehicle 2DOF reference model and a Carsim vehicle model.For the problem that the vehicle state parameter sideslip angle is difficult to measure,combined with existing sensors and other easy-to-measure parameters of the vehicle,a RBF neural network and EKF are designed to estimate the sideslip angle.The joint simulation platform was used to verify the parameter estimation scheme.Next,based on the theoretical analysis results of the vehicle’s driving state stability,the system’s control variables and ideal values are determined.Relying on the modular design idea.Layered coordinated control system consisting of upper and lower layers is constructed.At the same time,based on fuzzy logic control theory and rear wheel priority braking strategy to exploit an upper controller with yaw rate error and sideslip angle error as input variables and a lower brake torque distribution scheme.Select the software Carsim,MATLAB / Simulink to build a joint simulation platform to simulate the stability of the vehicle under typical working conditions.Preliminary verification of the correctness of the proposed vehicle stability control scheme.Finally,in order to further verify the correctness and reliability of the control system.Build a hardware-in-the-loop test bench for vehicle stability control system based on NI-PXI and d SPACE real-time system.The test conditions of the double-shift line under high / low adhesion conditions were tested on the test bench.The experimental results further show that the stability control scheme proposed in this paper is effective and feasible.