基于轮胎回正力矩的路面附着系数估计方法  

Estimation of road adhesion coefficient based on tire self-aligning torque

作　　者：李德涛 崔高健[1] 李绍松[1] 郭陆平 王国栋 李政 李增 Li Detao;Cui Gaojia;Li Shaosong;Guo Luping;Wang Guodong;Li Zheng;Li Zeng(Changchun University of Technology,Jilin Changchun 130012;Baicheng Vocational And Technical College,Jilin Baicheng 137000)

机构地区：[1]长春工业大学,吉林长春130012 [2]白城职业技术学院,吉林白城1370000

出　　处：《汽车实用技术》2019年第2期108-111,共4页Automobile Applied Technology

基　　金：国家自然科学基金资助项目(61603060);吉林省重大科技攻关项目(20170201005GX);吉林省优秀青年人才基金项目(20170520097JH);长春市科技计划项目(16CX21)

摘　　要：路面附着系数的识别对汽车稳定性控制起着至关重要的作用。轮胎回正力矩能够反映整车及轮胎的运动、受力状况以及路面环境信息,且利用回正力矩能比使用侧向力更早地估计轮-地接触状况。为此,本文设计一种基于轮胎回正力矩的路面附着系数估计方法。首先,基于二自由度车辆模型设计轮胎侧偏角反馈观测器,对轮胎侧偏角进行实时估计;其次,基于轮胎侧偏角和轮胎回正力矩信息设计路面附着系数估计器,构建路面附着系数评估函数;最后,搭建Carsim与Simulink联合仿真平台,仿真结果表明设计的估计算法能够有效地对路面附着系数进行估计。The identification of road friction plays an important role in the vehicle stability control system.The tire self-aligning torque can reflect the motion and force of the vehicle and the tire,and the information of the road.In addition,the tire self-aligning can be used to estimate of wheel to ground contact status earlier than the lateral force.This paper proposes a tire-road friction coefficient estimation method based on the tire self-aligning torque.Firstly,based on the 2-DOF vehicle dynamic model,a feedback observer is built for the real-time estimation of the tire side slip angle.Secondly,based on the information of the tire side angle and the tire self-aligning torque,the road adhesion coefficient estimator is designed,and the evaluation function of the road adhesion coefficient is constructed.Finally,a simulation platform is built by Carsim and Matlab/Simulink software.The results show that the designed estimation algorithm can effectively estimate the road adhesion coefficient.

关 键 词：路面附着系数 轮胎侧偏角 轮胎回正力矩 反馈观测器 

分 类 号：U463[机械工程—车辆工程]