Decoupling control method applied to automobile AFS (Active Front Steering) and ESP (Electronic Stability Program) integrated system

Abstract

The invention discloses a decoupling control method applied to an automobile AFS (Active Front Steering) and ESP (Electronic Stability Program) integrated system. A controlled original system 5 is composed of a complete automobile system 3 including an active steering system 1 and a brake system 2, and an ESP execution mechanism control module 4; according to the dynamic characteristics of the controlled original system 5, a dynamic inverse system 8 of the controlled original system 5 is constructed by utilizing a static neural network 6 and an integrator 7; the inverse system 8 is connected in series in the front of the controlled original system 5 to form a compound controlled system 13, so that two control channel mutual decoupling sub-systems are formed; a closed loop controller 11 (an AFS controller, an ESP controller) of the compound controlled system 13 is designed according to two circuits of output signal values of a signal detection module 16 and the deviation between the values and expected values respectively; the closed loop controller 11 is connected in series in the front of the inverse system 8 together to form a decoupling controller 12 of the AFS and ESP integrated system; the decoupling control on the mass centre sideslip angle and the yaw velocity of an automobile provided with an AFS and an ESP is realized; furthermore, the method is widely applied.

Description

technical field [0001] The invention relates to a decoupling control method for an integrated system of an active front wheel steering (AFS) and an electronic stability program (ESP) of an automobile, which is used for eliminating the coupling influence of a control loop of the integrated system and belongs to the field of automobile chassis control. Background technique [0002] In recent years, with the continuous improvement of automobile driving safety requirements, how to make up for the lack of driver's decision-making and manipulative ability under dangerous conditions, and how to implement active control or intervention on automobiles has become a research hotspot in the field of automobile chassis control. Automotive active front steering (AFS) is a method that can separate the driver's steering input angle from the actual vehicle steering angle, and superimpose an additional steering angle on the basis of the driver's steering angle input to optimize the car's respo...

AI Technical Summary

Problems solved by technology

[0004] Since the existing AFS and ESP electronic control systems of automobiles are mainly aimed at realizing certain local functions of the automobile, the interaction between the two or other systems is rarely considered, so when AFS and ESP are equipped on the automobile at the same time When, coupling and interference will inevitably occur, affecting the overall performance of the car

Images