一种新型的轮胎力级联估计方法  

Vehicle Tire Forces Estimation Using a Novel Cascade Method

作　　者：杨斯琦[1,2] 解小华[1,2] 陈虹[1,2] 

机构地区：[1]吉林大学汽车仿真与控制国家重点实验室,吉林长春130022 [2]吉林大学控制科学与工程系,吉林长春130022

出　　处：《信息与控制》2015年第2期203-208,214,共7页Information and Control

基　　金：国家自然科学基金重大研究计划集成项目(91220301);教育部创新团队项目(IRT1017);国家973课题资助项目(2012CB821202)

摘　　要：为了增强车辆主动安全性和底盘的集成控制,根据干扰输入观测器理论,基于简化的车轮动力学模型设计估计器,对每个轮胎纵向力进行估计.此外,基于"自行车"模型,利用车辆动力学,在纵向轮胎力估计值的基础上估计轮胎侧向力.涉及到的车载传感器测量值包括发动机扭矩和转速、轮缸压力、车轮角速度、方向盘转角、侧向加速度和横摆角速度.为验证轮胎力级联估计方法的有效性,应用高保真的车辆动力学软件ve DYNA进行了仿真研究,并与扩展卡尔曼滤波(extended Kalman filter,EKF)方法作对比分析.实验结果表明,轮胎力级联估计方法能够获得车辆轮胎力的估计效果.To enhance active vehicle safety and unified chassis control,we present a cascade method that evaluates each of the tire longitudinal forces.This new approach is inspired by the disturbance input observer theory based on a simplified wheel dynamics model.Our cascade method estimates the lateral tire forces by approxi-matingthe longitudinal tire forces based on a planar bicycle model.The vehicle onboard sensors record engine torque and rotational speed,wheel cylinder pressure,wheel angular speed,steering wheel angle,lateral ac-celeration and yaw rate measurements.Our method for tire forces is evaluated using simulation experiments in a high-fidelity vehicle dynamics software application,veDYNA.A comparison analysis is done via the extend-ed Kalman filter method.Experimental results reveal the excellent performance of the new cascade method for tire forces estimation.

关 键 词：干扰观测器 轮胎力估计 车辆动力学 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]