分布式驱动HEV自适应无迹卡尔曼车速估计  

Vehicle speed estimation in driving case based on distributed self-adaptive unscented Kalman filter for 4WD hybrid electric car

作　　者：赵治国[1,2] 朱强[2] 周良杰[2] 张军腾 

机构地区：[1]同济大学新能源汽车工程中心,上海201804 [2]同济大学汽车学院,上海201804

出　　处：《中国科学：技术科学》2016年第5期481-492,共12页Scientia Sinica(Technologica)

基　　金：国家自然科学基金联合基金(批准号:U1564208)资助项目

摘　　要：针对四驱混合动力汽车,为改善其电子稳定性系统(electronic stability program,ESP)车速估计的精度和鲁棒性,考虑后轮毂电机转矩精确可测可控,以及前轮驱动转矩可推算的特点,结合ESP系统既有的传感器输出信号,提出了分布式自适应无迹卡尔曼车速估计算法.首先,建立了四驱混合动力汽车动力系统及动力学模型,其包括驱动系统模型、7自由度车辆动力学模型和Burckhardt轮胎模型.其次,考虑模型的时变及强非线性特性,采用无迹卡尔曼滤波(unscented Kalman filter,UKF)算法设计了主/子滤波器.一方面通过对量测噪声的自适应,改善了UKF算法量对量测信号干扰的鲁棒性;另一方面将主/子滤波器结果进行融合,并用融合后结果重置了各滤波器,提高了车速估计精度.最后,搭建了四驱混合动力汽车Carsim-Simulink联合离线仿真平台和硬件在环仿真试验平台,分别开展了双纽线、低速双移线两种驱动工况的离线仿真和硬件在环仿真试验.试验结果表明,所提出的分布式自适应无迹卡尔曼车速估计算法不仅估计精度较高,而且也有着较强的自适应性和鲁棒性能.As for the four-wheel drive hybrid electric vehicle（4WD HEV）, in order to improve the accuracy and robustness of speed estimation for electronic stability program（ESP）, vehicle speed estimation based on distributed self-adaptive unscented Kalman filter（UKF） is proposed in consideration of obtained driving torque and ESP sensor signals. Firstly, powertrain and kinetic model are established according to the 4WD HEV, which includes power-train system model, seven degrees of freedom vehicle dynamics model and Burckhardt tire model. Secondly, considering the model is time-varying and strongly nonlinear, UKF algorithm is adopted to design the main/sub filter. On the one hand, self-adaptive UKF is designed for measurement noise to improve its robustness; on the other hand, main/sub filter results are fused and then the fused result is used to reset each filter, which improves the accuracy of speed estimation. Finally, off-line co-simulation of Carsim-Simulink and hardware-in-the-loop（HIL） platform for 4WD HEV are built, distributed self-adaptive UKF algorithm is tested in 8-shape route driving case and low speed double-line change driving case. The results show that the proposed speed estimation algorithm based on distributed self-adaptive UKF not only has high accuracy, but also has strong adaptability and robustness.

关 键 词：四驱混合动力汽车 分布式无迹卡尔曼滤波 噪声自适应 Carsim-Simulink联合仿真 硬件在环试验 

分 类 号：U469.7[机械工程—车辆工程] U463.6[交通运输工程—载运工具运用工程] U467[交通运输工程—道路与铁道工程]