中文摘要：

研究了以节气门开度调节为主、制动干预为辅的汽车ASR控制算法。以常用节气门开度调节算法为基础，提出了自适应PID控制算法。制动干预采用传统的逻辑门限值法。为保证车辆加速的方向稳定性，研究了制动干预时的横摆力矩估算法，并根据横摆力矩限制制动压力来防止车辆的横摆运动。基于上述算法编写了程序代码写入自行开发的ECU，采用dSPACE硬件在环仿真系统进行验证。仿真结果表明控制算法行之有效。

英文摘要：

The control strategy for ASR with the throttle opening regulation supplemented by brake intervention is studied. Based on the conventional control algorithms of throttle opening, an adaptive PID algorithm is proposed. The logic threshold method is adopted for brake intervention. To assure the direction stability in vehicle acceleration, the estimation method of yaw moment during brake intervention and the method of limiting the brake pressure according to yaw moment are investigated. The program code for the control algorithm is written into the self-developed ECU and is validated by hardware-in-the-loop simulation with dSPACE. The simulation results indicate that the control algorithm is effective.