Main loop-servo loop double closed loop controller of vehicle ESC system

Abstract

The invention relates to a main loop-servo loop double closed loop controller of a vehicle ESC system. A main ring controller in the main ring-servo ring double closed-loop controller mainly solves the problem of additional yawing moment decision on a vehicle (controlled object) level so as to realize reasonable regulation and control of vehicle motion conditions. A servo loop controller mainly adjusts the longitudinal slip rate of corresponding wheels through an actuator so as to achieve the control target of a main loop. The main ring-servo ring double closed-loop controller mainly has the following advantages: 1) the structure of a control algorithm is clear, the nonlinear characteristics of tires are not considered when the main ring controller is designed, and the horizontal resultant force of a vehicle is regarded as the control input of a vehicle ESC system, so that the difficulty of control design is reduced; and 2) the non-linear characteristics of the tire which are difficult to process are considered in the optimal distribution of the servo ring tire force, and various limiting conditions including tire-ground attachment and actuator state are considered in the tire force distribution.

Description

technical field [0001] The invention relates to the field of vehicle control, in particular to a main loop-servo loop double closed-loop controller of a vehicle ESC system. Background technique [0002] One of the typical implementations of the vehicle dynamics stability control system is the direct yaw moment control (DYC) method. Direct yaw moment control refers to changing the distribution of the longitudinal braking force or driving force of the left and right wheels of the vehicle, and using the difference in the longitudinal force of the tires on both sides to generate an appropriate yaw moment to control the yaw motion and lateral motion of the vehicle. . The research on this control method mainly began in the early 1990s with the Japanese scholar Shibahata's discussion on the nonlinear relationship between the side slip angle of the vehicle body and the stable yaw moment of the vehicle. Germany's Bosch developed the electronic stability program system (Electronic S...

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Problems solved by technology

[0011] However, there is no controller in the prior art that can make the control algorithm structure clear, easy to maintain, and conducive to algorithm integration, function expansion and upgrade, and can determine the appropriate additional yaw moment

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