中文摘要：

在所建整车七自由度模型的基础上,深入分析了电子稳定程序（ESP）对电动助力转向系统（EPS）工作模式的影响,设计了非线性滑模控制器,并计算出整车横摆运动所需的稳定控制力参考值,运用功能分配的方法对稳定控制力进行合力动态分配,同时考虑在低附着系数路面汽车车轮自回正力矩的严重缺失,从而提出基于ESP作用的回正力矩补偿控制策略,对EPS的工作模式进行修正。硬件在环仿真和软件仿真的结果表明,提出的控制策略不仅改善了转向系统的回正性能,而且能够使车辆快速、准确地恢复到稳定行驶的状态,提高了其操纵稳定性。

英文摘要：

An in-depth analysis on the influence of ESP on EPS assistance mode is conducted based on a 7 DOF vehicle model built. A nonlinear sliding mode controller is designed, the reference value of stability control force for yaw motion is calculated, and the dynamic allocation of resultant stability control force is performed with function allocation method. With consideration of the seriously inadequate self-aligning moment of vehicle wheels on low adhesive road, an ESP-based aligning moment compensation control strategy is proposed with ESP working mode corrected. The results of both hardware-in-the-loop simulation and software simulation show that the control strategy proposed can not only improve the aligning performance of steering system, but also make vehicle quickly and accu- rately return to its stable driving state and thus enhance its handling stability.