车辆侧倾状态估计的研究  

A Research on the Estimation of Vehicle Rolling State

作　　者：董明明[1] 张钰 王振峰 Dong Mingming;Zhang Yu;Wang Zhenfeng(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081;College of Mechanical Engineering,Tianjin University of Science ＆ Technology,Tianjin 300222)

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]天津科技大学机械工程学院,天津300222

出　　处：《汽车工程》2018年第9期1089-1095,共7页Automotive Engineering

基　　金：国家留学基金委项目(201706030029)资助

摘　　要：针对复杂行驶工况下车辆侧倾状态无法准确测取,因而对车辆侧倾无法有效控制的问题,本文中利用车辆耦合动力学与模糊T-S理论,设计了基于模型的T-S状态观测器算法,实现了复杂工况下车辆侧倾状态的实时有效观测。首先,构建了不同路面激励与转向盘转角工况下的车辆垂向与横向运动学模型;接着,在考虑轮胎受力具有强非线性特点的基础上,提出了基于T-S理论的轮胎T-S模型,并采用"魔术公式"对其进行了仿真验证;然后,基于轮胎T-S模型与整车动力学模型,利用贝叶斯理论,设计整车T-S观测器算法;最后,利用Car Sim软件对标准A/C级路面激励工况下整车T-S观测器实时估计的车辆侧倾角与侧倾率进行仿真验证。结果表明,所设计T-S观测器可有效估计车辆侧倾状态,最大标准偏差不超过12%。In view of the problem that under complex driving conditions the rolling state of vehicle cannot be accurately measured and hence vehicle roll cannot be effectively controlled,vehicle coupling dynamics and fuzzy T-S theory are used to design a model-based algorithm for T-S state observer,and fulfill the real-time and effective observation of vehicle rolling state in complex conditions in this paper. Firstly,vehicle vertical and lateral kinematic models under the conditions of different road excitations and steering wheel angles are constructed. Then,with consideration of the strong nonlinear features of tire forces,a tire T-S model based on T-S theory is proposed and then verified by simulation with "magic formula". Next,based on tire T-S model and vehicle dynamics model,Bayesian theory is applied to the design of the algorithm for vehicle T-S observer. Finally,CarSim software is used to conduct simulation verification on the real-time estimation of vehicle roll angle and roll rate by vehicle T-S observer under standard-A/C road excitations. The results show that T-S observer can effectively estimate the rolling state of vehicle with the maximum standard deviation less than 12%.

关 键 词：车辆动力学 侧倾运动 模糊观测器 状态估计 

分 类 号：U463.3[机械工程—车辆工程]