利用七自由度车辆模型估计汽车状态参数  

Vehicle State Estimation Using Automobile Dynamic Model with 7DOFs

作　　者：管欣[1] 张素民[1] 高振海[1] 詹军[1] 

机构地区：[1]吉林大学汽车动态模拟国家重点实验室,长春130025

出　　处：《科学技术与工程》2010年第16期3888-3891,3896,共5页Science Technology and Engineering

基　　金："863"国家高科技资助项目(2006AA110102);吉林省科技厅重点项目(20086006)资助

摘　　要：针对汽车主动悬架控制系统中难以测得的侧倾角速率俯仰角速率等状态参数,提出一种利用七自由度车辆模型,并采用滑模观测器估计汽车姿态的方法。提出的方法在未知道路状况的情况下可以降低模型不确定因素的影响。仿真计算与场地实验的结果验证了该方法的有效性,同时也为汽车控制系统的状态参数测量提供了一个可行的低成本策略。To solve the problem that some state parameters,such as roll angle rate and pitch angle rate,active suspension control process are too difficult to measure on-line. A method of vehicle state estimation using a dynamic sliding mode observer with a 7 degree-of-freedom model of the vertical vehicle dynamics as an essential component is presented. The observer relies on suspension sensors and stability system sensors. The effect of uncertainty is greatly reduced even with unknown road inputs. The design is verified through simulation and vehicle testing under variety of maneuvers and it provides a feasible,accuracy and low-cost way for measurement of vehicle state parameter.

关 键 词：汽车姿态估计 滑模观测器 车辆模型 侧倾角速率 俯仰角速率 

分 类 号：U461.1[机械工程—车辆工程]