关键词: 差动制动, 驱动力分配, 硬件在环, 四驱汽车

Abstract:

For the study of the car in the special road and steering stability, the seven degree of freedom vehicle model is built by using Matlab/Simulink software. analyzed the driving force distribution and the braking force distribution on the influence degree of the improving vehicle handling stability, and based on layered coordination control thought, the electronic stability program (ESP) and dynamic performance control(DPC) system of the upper controller is designed, using fuzzy control for ESP, The driving force distribution control system are designed based on neural network PID control system .The simulation of typical working conditions is carried out, and then, the test simulation platform of hardware in the loop is constructed based on the NI - PXI device, for the test control system. In the speed of 50 km/h, double lane-change test results whose tire-road friction coefficient is under 0.4 show when the car’s yaw velocity and the side slip angle decline 0.027 rad/s and 0.023 rad in the first lane change, and improve respectively 8.3% and 43.8% when compared with no control. Meanwhile, in the second lane changing serious instability cases, using the proposed control system still can be in state of vehicle steering stability safety area.

Key words: differential braking, hardware in the loop, torque distribution, 4WD