Investigation of The PID Controller Gains Effect on Electronic Stability Program (ESP) Performance

The Electronic Stability Program (ESP) is an intelligent vehicle safety system designed to enhance vehicle stability. In this study, we investigated the effects of the PID controller gains on the vehicle stability system. The two critical parameters in examining vehicle stability are the yaw rate and the slip angle. To prevent the vehicle from deviating from its ideal path, it is necessary to control deviations in these two parameters from their desired values by implementing an additional yaw moment on the vehicle. To this end, a two-degree-of-freedom vehicle model was analyzed, and the desired values for these parameters were derived using this model. A switching algorithm and a PID controller were used to control these two parameters with an actuator. The impact of each PID controller gain on vehicle stability was then examined separately. We analyzed the absolute deviation from the vehicle's ideal path against variations in each PID controller gain to determine the optimal values for each gain. Finally, we compared the absolute deviation from the ideal path over time for a vehicle with the ESP system using the optimal gains values to that of a vehicle without the ESP system. The results indicated that employing this strategy reduced the vehicle's deviation from its ideal path by approximately ۳۳%.

Keywords:

PID Controller , ESP System , Vehicle Stability , Switching Algorithm