基于Uni-Tire轮胎模型的车辆质心侧偏角估计  

Vehicle side-slip angle estimation based on Uni-Tire model

作　　者：郭洪艳[1,2] 陈虹[1,2] 丁海涛[1] 胡云峰[2] 

机构地区：[1]吉林大学汽车动态模拟国家重点实验室,吉林长春130025 [2]吉林大学控制科学与工程系,吉林长春130025

出　　处：《控制理论与应用》2010年第9期1131-1139,共9页Control Theory & Applications

基　　金：国家杰出青年科学基金资助项目(60725311);国家自然科学基金重大研究计划重点项目(90820302)

摘　　要：针对车辆质心侧偏角估计的准确性和实时性能问题,提出了车辆质心侧偏角估计的非线性全维观测器设计方法.首先基于车辆动力学模型及纵滑-侧偏联合工况下的Uni-Tire轮胎模型,利用车载传感器测量车辆状态;观测器利用这些状态估计出车辆的纵向速度、侧向速度及横摆角速度,并由此得到车辆的质心侧偏角估计.其次利用输入-状态稳定(input-to-state stability,ISS)理论对观测器的稳定性进行了分析.最后采用红旗CA7180A3E型轿车的车辆参数使用车辆仿真软件veDYNA对极限工况下的估计结果进行了离线仿真研究,并利用xPC-Target仿真环境和dSPACE实时仿真系统搭建仿真平台,对非线性全维观测器的实时性进行验证.仿真结果表明,非线性估计方法估计精度较高,实时性较好,可以满足工程应用的要求.A nonlinear full-order observer is proposed for vehicle side-slip angle estimation to improve the accuracy and the real-time performance of the side-slip angle estimation. The longitudinal velocity, lateral velocity and yaw rate of the vehicle are estimated by the observer using the information of vehicle states which are measured by on-board sensors based on the vehicle dynamic model and Uni-Tire model for longitudinal slip and lateral slip, and then, the estimates of the side-slip angle are determined based on the above results. The stability of the observer is analyzed using the theory of input-to-state stability（ISS）. The offline estimation result is validated using the vehicle simulation software veDYNA with the parameters of Hongqi CA7180A3E in critical condition; the real-time performance of the full-order nonlinear observer is tested on the simulation platform using the xPC-Target simulation environment and dSPACE real-time system. The simulation results show that the nonlinear estimation method has high estimation precision, good real-time performance and satisfies the requirements of engineering application.

关 键 词：非线性估计方法 质心侧偏角 输入-状态稳定性 统一指数轮胎模型 

分 类 号：U461[机械工程—车辆工程]