面向主动安全的汽车底盘集成控制策略研究
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摘要
汽车作为现代社会的主要交通工具，推动着社会经济的迅速发展和人民生活水平的快速进步，但是每年由于交通事故造成的死亡人数和经济损失触目惊心，汽车安全问题已成为世界性的社会问题。伴随着电子技术、传感器技术和车载网络技术的进步，以电子稳定性控制为代表的汽车底盘电控系统得到了高速发展，装车率也越来越高，无论是对汽车的行驶安全性还是乘坐舒适性都有显著提高。目前这些底盘电控系统大都是围绕提高某一项性能指标，由各个零部件厂商单独设计开发的，而没有考虑与其它电控系统的相互影响和耦合作用，只是简单叠加在一起非但不能充分体现出各自应有的性能，反而会降低整车的综合性能，因此进行集成控制成为汽车主动安全技术的未来发展方向。底盘集成控制能够充分考虑各子系统间的相互影响和耦合作用，在硬件或软件上对控制目标或控制动作进行优化处理，从根本上解决各子系统间的冲突，实现整车综合性能的最优。
本文结合国家863计划项目“X121轿车集成开发先进技术”子课题“电子稳定系统（ESP）集成开发及电动转向系统（EPS）一体化控制技术”，总结国内外研究成果的基础上，以面向主动安全的汽车底盘集成控制策略研究为主题，以某国产轿车为研究对象，就高品质汽车动力学建模、电子稳定性控制策略及仿真、电子稳定性控制实车试验、底盘集成控制策略及仿真、底盘集成控制硬件在环试验等方面开展了一系列工作，主要内容如下：
第一章为绪论。系统的介绍了汽车底盘主动安全系统的发展，引出了汽车底盘集成控制的优势和必要性，分析了汽车底盘集成控制的关键问题，然后总结了汽车底盘集成控制的国内外研究现状，由此阐述了本文选题的科学意义和应用背景，给出本文
研究的主要内容。
第二章为高品质汽车动力学模型研究。针对底盘集成控制研究的特点，采用模块化思想建立了满足精度和实时性要求的十六自由度非线性汽车动力学模型，其中整车模型以车体六自由度运动为基础，兼顾非簧载质量的垂向跳动，并且考虑了悬架K&C特性的修正，最后通过目标车的实车试验数据对建立的汽车动力学模型进行了验证。
第三章为电子稳定性控制策略及仿真研究。基于差动制动方式的ESC系统在主动安全控制方面具有其它系统无法比拟的优势，本文底盘集成控制研究也是围绕ESC系统展开的。本章首先采用分层模块化思想设计了电子稳定性控制策略总体架构，然后以汽车侧向动力学为基础，分析了横摆角速度和质心侧偏角联合描述驾驶员驾驶意图的必要性。重点研究了横摆稳定性控制算法，分别设计了基于LQR的横摆力矩决策算法和基于GPC的横摆力矩决策算法，并对这两种算法的控制效果进行了仿真对比分析。
第四章为电子稳定性控制策略试验研究。自主设计开发了电子稳定性控制ECU、车辆姿态传感器以及上位机监控系统，并以此为基础搭建了电子稳定性控制系统车载试验平台；然后考虑到实际产品的成本和环境依赖问题，设计了质心侧偏角和轮缸压力估计算法，并通过ESC系统车载试验平台验证了估计算法的有效性；最后通过典型试验工况初步验证了车辆姿态传感器的精确性以及横摆稳定性控制算法和ABS控制算法的有效性。
第五章为底盘集成控制策略及仿真研究。采用分层模块化思想设计了底盘集成控制策略的总体架构，分两个层面对汽车底盘集成控制开展研究，首先针对差动制动和主动转向进行集成，设计了七自由度预测模型和基于MPC的集成控制算法，实现了ESC和AFS的集成控制；然后在此基础上加入主动悬架控制，设计了综合SMVSC算法和轮胎力最优分配算法的集成控制策略，实现了ESC、AFS和ASS的集成控制，也就是严格意义上的底盘一体化控制。最后应用自主开发的汽车动力学仿真平台对两种集成控制策略的控制效果进行了仿真分析。
第六章为底盘集成控制策略硬件在环试验研究。为了在加入传感器、执行器和控制器等实际硬件的环境中进一步验证底盘集成控制算法的有效性，基于Matlab/xPCTarget技术自主设计开发了底盘集成控制硬件在环（HIL）试验台，该HIL试验台包括驾驶模拟系统、实时仿真系统和ESC液压制动系统。结合HIL试验台网络拓扑结构，基于SAE J1939协议自主设计制定了CAN通信协议，并开发了用于协议解析、控制系统在线调试和标定的上位机软件。最后针对ESC、AFS和ASS的集成控制开展了驾驶员在环的HIL试验，试验结果表明本文设计的底盘集成控制策略可以有效的提高汽车的行驶安全性。
第七章对全文内容进行工作总结，并对未来的研究方向提出了展望。
本文从实际问题出发，对面向主动安全的汽车底盘集成控制策略进行了研究，并在以下几个方面有所创新：
（1）基于分层模块化思想设计了汽车电子稳定性控制策略，在进行横摆稳定性控制时，针对LQR算法对控制模型精度依赖性较高的问题，设计了基于GPC的横摆力矩决策算法，并应用自主开发的车载试验平台对GPC算法的有效性进行了试验验证；
（2）针对差动制动和主动前轮转向的集成控制，设计了七自由度预测模型和基于MPC的集成控制算法，实现了ESC和AFS的集成，并应用自主开发的汽车动力学仿真平台对MPC算法的控制效果进行了仿真验证；
（3）针对差动制动、主动前轮转向和主动悬架的集成控制，设计了综合SMVSC算法和轮胎力最优分配算法的集成控制策略，实现了ESC、AFS和ASS的集成，并应用自主开发的底盘集成控制硬件在环试验台对控制策略的有效性进行了试验验证。
As the major transportation in modern society, the vehicle industry promotessocio-economic development and people's living standard rapidly, but the annual death tolland economic loss caused by traffic accidents are shocking, and vehicle safety issues havebecome a worldwide social problem. With the rapid development of the electronictechnology, sensor technology and in-vehicle network technology, the chassis active safetytechnology has developed rapidly, and the applications used in vehicle have increased,,regardless of vehicle driving safety or riding comfort has been improved remarkably, butthese electronic control systems are designed and developed by various part-suppliermanufacturers independently, only focusing on improving its performance and withoutconsidering the interaction and coupling with the other electronic control systems, so thesimple superposition of electronic control systems are not only fail to fully reflect theirproper performance, but also will reduce the whole vehicle performance. Therefore,comprehensive consideration of all the electronic control systems, achieving vehicle optimalperformance by the way of integration and optimization, has become a hot research topic inthe field of automotive active safety. As the future development direction of active safetysystem, domestic research of vehicle chassis integrated control has just started, therefore,following the development trend of automotive technology closely is not only have a greatrealistic significance in shortening the gap between the technological levels of our countryand developed countries, but also greatly accelerates the progress of automotive industry and other related industry.
This thesis is associated with the “Integrated Development of Electronic StabilityProgram(ESP) and Integrated Control Technology of Electronic Power Steering(EPS)”subject, supported by the project of National863Program “Integrated Development ofAdvanced Technology for X121Passenger Car”. Based on the summary of the domestic andforeign research achievements, this thesis focuses on the research of integrated chassiscontrol for vehicle active safety, and a domestic passenger car is chosen as benchmark. Asequence research work of the high-quality modeling of vehicle dynamics, electronicstability control strategy and simulation, vehicle test of electronic stability control strategy,integrated chassis control strategy and simulation and HIL test of integrated chassis controlare carried out in detail. The main contents are as follows:
First chapter is the introduction. It systematically introduces the development of vehiclechassis active safety systems, leads to the advantage and necessity of vehicle chassisintegrated control, analyses the the key issues of the chassis integrated control, and thensummaries the domestic and foreign research achievements of chassis integrated control, theacademic and applying background of this thesis are described, and the main content of thispaper are given.
The second chapter is the high-quality modeling of vehicle dynamics research. Based onthe characteristics of integrated chassis control, the16-DOF nonlinear vehicle dynamicsmodel is established using modularization method, which has high precision and strictreal-time. It is composed of engine model, powertrain model, brake system model,hydraulic regulator model, suspension model, tire model, vehicle body model and drivermodel. And the vehicle model is validated using the handling test data of the target vehicle.The results show that the vehicle model can describe the dynamical characteristics inlinear and nonlinear area correctly and accurately.
The third chapter is electronic stability control strategy and simulation research. Theoverall architecture and content of sub-modules of electronic stability control algorithm aredesigned using the hierarchic method. Based on vehicle lateral dynamics, the necessity of combined control of the yaw rate and sideslip angle is illustrated. Focusing on the yawstability control strategy, yaw moment decision algorithm is designed based on LQR methodand GPC method, and the effectiveness of these two algorithms are validated by simulation.Finally, the effectiveness of the ABS control algorithm are validated by simulation.
The fourth chapter is experimental study on the electronic stability control strategy. Theelectronic stability controllers, the vehicle attitude sensors, PC monitoring system and thevehicle test platform are designed and developed. Considering the dependence of the actualenvironment and the cost of the product, the sideslip angle and wheel cylinder pressure areestimated, and validated by electronic stability control test platform. The functionality of thevehicle attitude sensor, yaw stability control algorithm and the effectiveness of the ABScontrol algorithm validated by electronic stability control test platform.
The fifth chapter is simulation study on integrated chassis control strategy. The overallarchitecture of integrated chassis control strategy is designed using the hierarchic method.Studying on integrated chassis control includes two levels, and the first level is theintegration of braking and steering control, electronic stability control and active frontsteering control are integrated, and the second level is the integration of braking, steering andactive suspension control, then the integrated chassis control is achieved in strict sense.Seven degrees of freedom predictive model and model predictive control algorithm areestablished for the integrated control of braking and steering, and the accuracy andeffectiveness of prediction model and model predictive control algorithm are validated bysimulation. The total yaw moment is designed based on the sliding mode variable structurecontrol algorithm for the integrated control of braking, steering and suspension, and the tireforce estimation and optimal tire force distribution algorithm are designed.
The sixth chapter is the hardware in the loop test reaserch of integrated chassis controlstrategy. In order to further verify the effectiveness of the integrated control algorithm in theenvironment by adding sensors, actuators and controller, integrated chassis controlhardware-in-the-loop test rig is designed and developed based on Matlab/xPC Targettechnology, including a driving simulator system, real-time simulation system and ESC hydraulic braking system. According to the network topology of integrated chassis controlhardware-in-the-loop test rig, the CAN communication protocol is developed independentlybased on SAE J1939protocol, and the host software is developed, which is used to protocolanalysis and control system online debugging and calibration. The effectiveness of theintegrated control algorithm for braking, steering and suspension is validated by hardware inthe loop test.
The seventh chapter concludes the whole content of this thesis, and it put forward thedirection and the keystone for the future.
For resolving practical issues, this thesis studies the aspects related to developing vehicleintegrated chassis control system. And it has creative works following:
(1) The overall architecture of integrated chassis control strategy is developed using thehierarchic method. Focusing on the yaw stability control strategy, yaw moment decisionalgorithm is developed based on GPC method, and the effectiveness of the algorithm isvalidated by the in-vehicle test platform of electronic stability control.
(2) Focusing on integration of differential braking and active front steering, theintegrated control algorithm is designed based on MPC method, and the effectiveness of thealgorithm is validated by vehicle dynamics simulation platform.
(3) Focusing on integration of differential braking, active front steering and activesuspension, the total yaw moment decision algorithm based on SMVSC method, the tireforce optimal allocation algorithm are designed, and the effectiveness of algorithms arevalidated by hardware in the loop test platform of integrated chassis control.
本文结合国家863计划项目“X121轿车集成开发先进技术”子课题“电子稳定系统（ESP）集成开发及电动转向系统（EPS）一体化控制技术”，总结国内外研究成果的基础上，以面向主动安全的汽车底盘集成控制策略研究为主题，以某国产轿车为研究对象，就高品质汽车动力学建模、电子稳定性控制策略及仿真、电子稳定性控制实车试验、底盘集成控制策略及仿真、底盘集成控制硬件在环试验等方面开展了一系列工作，主要内容如下：
第一章为绪论。系统的介绍了汽车底盘主动安全系统的发展，引出了汽车底盘集成控制的优势和必要性，分析了汽车底盘集成控制的关键问题，然后总结了汽车底盘集成控制的国内外研究现状，由此阐述了本文选题的科学意义和应用背景，给出本文
研究的主要内容。
第二章为高品质汽车动力学模型研究。针对底盘集成控制研究的特点，采用模块化思想建立了满足精度和实时性要求的十六自由度非线性汽车动力学模型，其中整车模型以车体六自由度运动为基础，兼顾非簧载质量的垂向跳动，并且考虑了悬架K&C特性的修正，最后通过目标车的实车试验数据对建立的汽车动力学模型进行了验证。
第三章为电子稳定性控制策略及仿真研究。基于差动制动方式的ESC系统在主动安全控制方面具有其它系统无法比拟的优势，本文底盘集成控制研究也是围绕ESC系统展开的。本章首先采用分层模块化思想设计了电子稳定性控制策略总体架构，然后以汽车侧向动力学为基础，分析了横摆角速度和质心侧偏角联合描述驾驶员驾驶意图的必要性。重点研究了横摆稳定性控制算法，分别设计了基于LQR的横摆力矩决策算法和基于GPC的横摆力矩决策算法，并对这两种算法的控制效果进行了仿真对比分析。
第四章为电子稳定性控制策略试验研究。自主设计开发了电子稳定性控制ECU、车辆姿态传感器以及上位机监控系统，并以此为基础搭建了电子稳定性控制系统车载试验平台；然后考虑到实际产品的成本和环境依赖问题，设计了质心侧偏角和轮缸压力估计算法，并通过ESC系统车载试验平台验证了估计算法的有效性；最后通过典型试验工况初步验证了车辆姿态传感器的精确性以及横摆稳定性控制算法和ABS控制算法的有效性。
第五章为底盘集成控制策略及仿真研究。采用分层模块化思想设计了底盘集成控制策略的总体架构，分两个层面对汽车底盘集成控制开展研究，首先针对差动制动和主动转向进行集成，设计了七自由度预测模型和基于MPC的集成控制算法，实现了ESC和AFS的集成控制；然后在此基础上加入主动悬架控制，设计了综合SMVSC算法和轮胎力最优分配算法的集成控制策略，实现了ESC、AFS和ASS的集成控制，也就是严格意义上的底盘一体化控制。最后应用自主开发的汽车动力学仿真平台对两种集成控制策略的控制效果进行了仿真分析。
第六章为底盘集成控制策略硬件在环试验研究。为了在加入传感器、执行器和控制器等实际硬件的环境中进一步验证底盘集成控制算法的有效性，基于Matlab/xPCTarget技术自主设计开发了底盘集成控制硬件在环（HIL）试验台，该HIL试验台包括驾驶模拟系统、实时仿真系统和ESC液压制动系统。结合HIL试验台网络拓扑结构，基于SAE J1939协议自主设计制定了CAN通信协议，并开发了用于协议解析、控制系统在线调试和标定的上位机软件。最后针对ESC、AFS和ASS的集成控制开展了驾驶员在环的HIL试验，试验结果表明本文设计的底盘集成控制策略可以有效的提高汽车的行驶安全性。
第七章对全文内容进行工作总结，并对未来的研究方向提出了展望。
本文从实际问题出发，对面向主动安全的汽车底盘集成控制策略进行了研究，并在以下几个方面有所创新：
（1）基于分层模块化思想设计了汽车电子稳定性控制策略，在进行横摆稳定性控制时，针对LQR算法对控制模型精度依赖性较高的问题，设计了基于GPC的横摆力矩决策算法，并应用自主开发的车载试验平台对GPC算法的有效性进行了试验验证；
（2）针对差动制动和主动前轮转向的集成控制，设计了七自由度预测模型和基于MPC的集成控制算法，实现了ESC和AFS的集成，并应用自主开发的汽车动力学仿真平台对MPC算法的控制效果进行了仿真验证；
（3）针对差动制动、主动前轮转向和主动悬架的集成控制，设计了综合SMVSC算法和轮胎力最优分配算法的集成控制策略，实现了ESC、AFS和ASS的集成，并应用自主开发的底盘集成控制硬件在环试验台对控制策略的有效性进行了试验验证。
As the major transportation in modern society, the vehicle industry promotessocio-economic development and people's living standard rapidly, but the annual death tolland economic loss caused by traffic accidents are shocking, and vehicle safety issues havebecome a worldwide social problem. With the rapid development of the electronictechnology, sensor technology and in-vehicle network technology, the chassis active safetytechnology has developed rapidly, and the applications used in vehicle have increased,,regardless of vehicle driving safety or riding comfort has been improved remarkably, butthese electronic control systems are designed and developed by various part-suppliermanufacturers independently, only focusing on improving its performance and withoutconsidering the interaction and coupling with the other electronic control systems, so thesimple superposition of electronic control systems are not only fail to fully reflect theirproper performance, but also will reduce the whole vehicle performance. Therefore,comprehensive consideration of all the electronic control systems, achieving vehicle optimalperformance by the way of integration and optimization, has become a hot research topic inthe field of automotive active safety. As the future development direction of active safetysystem, domestic research of vehicle chassis integrated control has just started, therefore,following the development trend of automotive technology closely is not only have a greatrealistic significance in shortening the gap between the technological levels of our countryand developed countries, but also greatly accelerates the progress of automotive industry and other related industry.
This thesis is associated with the “Integrated Development of Electronic StabilityProgram(ESP) and Integrated Control Technology of Electronic Power Steering(EPS)”subject, supported by the project of National863Program “Integrated Development ofAdvanced Technology for X121Passenger Car”. Based on the summary of the domestic andforeign research achievements, this thesis focuses on the research of integrated chassiscontrol for vehicle active safety, and a domestic passenger car is chosen as benchmark. Asequence research work of the high-quality modeling of vehicle dynamics, electronicstability control strategy and simulation, vehicle test of electronic stability control strategy,integrated chassis control strategy and simulation and HIL test of integrated chassis controlare carried out in detail. The main contents are as follows:
First chapter is the introduction. It systematically introduces the development of vehiclechassis active safety systems, leads to the advantage and necessity of vehicle chassisintegrated control, analyses the the key issues of the chassis integrated control, and thensummaries the domestic and foreign research achievements of chassis integrated control, theacademic and applying background of this thesis are described, and the main content of thispaper are given.
The second chapter is the high-quality modeling of vehicle dynamics research. Based onthe characteristics of integrated chassis control, the16-DOF nonlinear vehicle dynamicsmodel is established using modularization method, which has high precision and strictreal-time. It is composed of engine model, powertrain model, brake system model,hydraulic regulator model, suspension model, tire model, vehicle body model and drivermodel. And the vehicle model is validated using the handling test data of the target vehicle.The results show that the vehicle model can describe the dynamical characteristics inlinear and nonlinear area correctly and accurately.
The third chapter is electronic stability control strategy and simulation research. Theoverall architecture and content of sub-modules of electronic stability control algorithm aredesigned using the hierarchic method. Based on vehicle lateral dynamics, the necessity of combined control of the yaw rate and sideslip angle is illustrated. Focusing on the yawstability control strategy, yaw moment decision algorithm is designed based on LQR methodand GPC method, and the effectiveness of these two algorithms are validated by simulation.Finally, the effectiveness of the ABS control algorithm are validated by simulation.
The fourth chapter is experimental study on the electronic stability control strategy. Theelectronic stability controllers, the vehicle attitude sensors, PC monitoring system and thevehicle test platform are designed and developed. Considering the dependence of the actualenvironment and the cost of the product, the sideslip angle and wheel cylinder pressure areestimated, and validated by electronic stability control test platform. The functionality of thevehicle attitude sensor, yaw stability control algorithm and the effectiveness of the ABScontrol algorithm validated by electronic stability control test platform.
The fifth chapter is simulation study on integrated chassis control strategy. The overallarchitecture of integrated chassis control strategy is designed using the hierarchic method.Studying on integrated chassis control includes two levels, and the first level is theintegration of braking and steering control, electronic stability control and active frontsteering control are integrated, and the second level is the integration of braking, steering andactive suspension control, then the integrated chassis control is achieved in strict sense.Seven degrees of freedom predictive model and model predictive control algorithm areestablished for the integrated control of braking and steering, and the accuracy andeffectiveness of prediction model and model predictive control algorithm are validated bysimulation. The total yaw moment is designed based on the sliding mode variable structurecontrol algorithm for the integrated control of braking, steering and suspension, and the tireforce estimation and optimal tire force distribution algorithm are designed.
The sixth chapter is the hardware in the loop test reaserch of integrated chassis controlstrategy. In order to further verify the effectiveness of the integrated control algorithm in theenvironment by adding sensors, actuators and controller, integrated chassis controlhardware-in-the-loop test rig is designed and developed based on Matlab/xPC Targettechnology, including a driving simulator system, real-time simulation system and ESC hydraulic braking system. According to the network topology of integrated chassis controlhardware-in-the-loop test rig, the CAN communication protocol is developed independentlybased on SAE J1939protocol, and the host software is developed, which is used to protocolanalysis and control system online debugging and calibration. The effectiveness of theintegrated control algorithm for braking, steering and suspension is validated by hardware inthe loop test.
The seventh chapter concludes the whole content of this thesis, and it put forward thedirection and the keystone for the future.
For resolving practical issues, this thesis studies the aspects related to developing vehicleintegrated chassis control system. And it has creative works following:
(1) The overall architecture of integrated chassis control strategy is developed using thehierarchic method. Focusing on the yaw stability control strategy, yaw moment decisionalgorithm is developed based on GPC method, and the effectiveness of the algorithm isvalidated by the in-vehicle test platform of electronic stability control.
(2) Focusing on integration of differential braking and active front steering, theintegrated control algorithm is designed based on MPC method, and the effectiveness of thealgorithm is validated by vehicle dynamics simulation platform.
(3) Focusing on integration of differential braking, active front steering and activesuspension, the total yaw moment decision algorithm based on SMVSC method, the tireforce optimal allocation algorithm are designed, and the effectiveness of algorithms arevalidated by hardware in the loop test platform of integrated chassis control.
引文
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