大侧偏姿态下汽车姿态变量的估计  

Estimation of Vehicle Attitude Variables under Large Slip Angle

作　　者：王国林[1] 方超[1] 高涵文[1] 

机构地区：[1]江苏大学

出　　处：《汽车技术》2009年第12期5-8,共4页Automobile Technology

摘　　要：结合状态估计、卡尔曼滤波理论,建立了自适应卡尔曼滤波器对汽车质心侧偏角、横摆角速度进行估计,并采用双线性模型简化了轮胎的非线性问题。在Adams/car与Matlab/Simulink联合仿真状况下,对魔术公式与双线性简化模型的估计值进行了对比,结果表明两者具有良好的一致性,证明了双线性简化轮胎模型的自适应卡尔曼滤波器的有效性。In this paper an adaptive Kalman Filter is established based on the theory of Kalman Filter Theory and state estimation to estimate mass center slip angle and yaw rate of vehicle,and bilinear tire model is used to simplify the nonlinear problem of tires.The simulation environment with the combined simulation of Adams/car and Matlab/Simulink is built to compare the Magic Formula with the simplified bilinear tire model,the results show good consistency between them,verifying validity of the adaptive Kalman ...

关 键 词：轮胎 双线性模型 质心侧偏角 横摆角速度 卡尔曼滤波器 

分 类 号：U463.5[机械工程—车辆工程]