Abstract: Vehicle reference model and vehicle model with the nonlinear two degree of freedom are set up by using the MATLAB / Simulink，which includes“Magic Formula”tire model． Using sliding mode control principle to direct at the nonlinear，time varying characteristics of ESP system，a controller of yaw rate based on sliding mode has been designed． By simulation results of J-turn lane change on slippery road surface，it is demonstrated that the present stability control system based on the yaw rate is effective on maintaining the yaw rate and the sideslip angle within the optimal range，which can improve the vehicle stability．

Key words: stability control, yaw rate, sliding mode control, simulation analysis

摘要： 采用 Magic Formula 轮胎模型，运用 MATLAB/Simulink 软件建立了参考模型和二自由度非线性汽车模型; 针对汽车 ESP 系统的非线性、时变的特点，基于滑模变结构控制理论，设计了以横摆角速度为控制变量的稳定性控制器;在湿滑路面上进行了转向行驶以及移线行驶工况控制效果的仿真分析。研究表明: 所设计的控制器能够很好地控制车辆的横摆角速度和质心侧偏角，提高了车辆的稳定性。

关键词: 稳定性控制, 横摆角速度, 滑膜变结构, 仿真分析