基于动态单纯形算法的车辆状态最优观测器  

Dynamic Simplex Algorithm-based Optimal Observer for Vehicle State

作　　者：王伟达[1] 杨新征[2] 张为[2] 马新波 张华 

机构地区：[1]北京理工大学车辆传动国家重点实验室,北京100081 [2]交通运输部科学研究院,北京100029 [3]内蒙古一机集团宏远电器有限公司,内蒙古包头140032

出　　处：《中国公路学报》2015年第6期112-119,共8页China Journal of Highway and Transport

基　　金：国家自然科学基金项目(51005017)

摘　　要：为了精确、实时监控质心侧偏角、路面附着系数等关键车辆状态参数,保证车辆电子稳定性控制系统(ESC)的控制精度和效果,引入具有显式表达式、方便进行在线计算的非线性Dugoff轮胎模型,描述轮胎与地面之间的非线性附着特性;并对Dugoff轮胎模型进行了改进以提高轮胎模型在大滑移率条件下的计算精度。在二自由度车辆模型和非线性轮胎模型基础上,提出了采用组合动态单纯形算法的车辆状态最优观测器,并将设计的车辆最优状态观测器在基于veDYNA动力学仿真软件的驾驶人在环仿真平台上进行了典型工况的在线测试。结果表明:研究的基于组合动态单纯形算法的车辆状态最优观测器具有较好的观测精度和较快的收敛速度。In order to accurately monitor the key vehicle state parameters in real time,such as vehicle sideslip angle and road adhesion coefficient,and ensure the control effect and precision of Electronic Stability Control System（ESC）,nonlinear Dugoff tire model which can be described by obvious expression and calculated on-line easily was introduced,and the nonlinear adhesion characteristics between tire and road were described.Dugoff tire model was modified to improve tire model accuracy under the huge slip ratio condition.The optimal observer for vehicle state applied by the combined dynamic simplex algorithm was proposed based on 2-DOF vehicle model and nonlinear tire model.The optimal observer was designed and tested online on the veDYNA software-based driver-in-the-loop simulation platform. The results show that the optimal observer for the vehicle state with combined dynamic simplex algorithm has better observation accuracy and quicker convergence speed.

关 键 词：汽车工程 最优观测器 动态单纯形算法 电子稳定性控制系统 质心侧偏角 

分 类 号：U461.1[机械工程—车辆工程]