Abstract: Electronic stability program (ESP) is a kind of safety technology. In this paper, a twodegree-of-freedom model of the vehicle was established by MATLAB/Simulink, and the differential control of the additional yaw moment was carried out by combining the fuzzy proportion integral differential (PID) and PID with ESP. The co-simulation model was built by CarSim and Simulink, and the angular step signal and sinusoidal signal were used as the steering wheel input respectively. The stability of the vehicle was judged by observing the yaw speed of the vehicle. It is found that fuzzy PID is better than PID in improving vehicle stability, which provides a certain reference for the research of ESP.

Key words: Electronic stabilization program system; PID control; Fuzzy PID control; Co-simulation; Control strategies

摘要： ESP 系统是一种主动安全技术。文章通过 MATLAB/Simulink 建立汽车二自由度模型， 将模糊 PID 以及 PID 和 ESP 结合起来，对得到的附加横摆力矩进行差动控制。通过 CarSim 和 Simulink 搭建联合仿真模型，分别以角阶跃信号以及正弦信号作为转向盘输入，通过观察 汽车的横摆角速度来判断汽车的稳定性。对比发现，模糊 PID 在改善车辆稳定性方面优于 PID， 为 ESP 的研究给予一定的参考作用。

关键词: ESP 系统；PID 控制；模糊 PID 控制；联合仿真；控制策略