车辆系统垂向与横向耦合的侧倾状态估计  

Vertical and Lateral Coupling Roll State Estimation of Vehicle System

作　　者：王振峰 李飞[1,2] 王新宇 高普[3] 秦也辰 Wang Zhenfeng;Li Fei;Wang Xinyu;Gao Pu;Qin Yechen(China Automotive Technology and Research Center Co., Ltd., Tianjin 300300;CATARC (Tianjin) Automotive Engineering Research Institute Co., Ltd., Tianjin 300300;School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081)

机构地区：[1]中国汽车技术研究中心有限公司,天津300300 [2]中汽研(天津)汽车工程研究院有限公司,天津300300 [3]北京理工大学机械与车辆学院,北京100081

出　　处：《汽车工程》2020年第5期636-643,共8页Automotive Engineering

基　　金：国家自然科学青年基金(51805028);中国汽车技术研究中心科研项目(19201203,19210111)资助。

摘　　要：为有效解决复杂行驶工况下车辆耦合侧倾运动状态无法精确获取,进而对车辆系统操纵稳定性与乘坐舒适性兼顾优化无法提供准确输入的难题,本文中设计了基于车辆垂向与横向耦合动力学的双非线性状态观测器算法,以实现复杂行驶工况下车辆耦合侧倾运动状态的实时准确估计。首先,建立了路面激励模型与整车系统垂向与横向耦合动力学模型;接着,利用无迹卡尔曼滤波方法(UKF)与非线性模糊观测(T-S)理论,设计了非线性状态观测算法,以在不同路面激励工况下对车辆系统簧载质量与侧倾状态进行联合估计;最后,运用CarSim■动力学软件,对比分析了在标准A级与C级路面上进行J-turn试验工况下,采用联合状态观测器(UKF&T-S)实时估计车辆侧倾角与侧倾率的观测精度。结果表明,本文所设计的UKF&T-S观测器可有效估计车辆侧倾状态,且与CarSim■仿真数据相比识别状态标准偏差不超过10%。To effectively solve the problem that the coupling roll motion state of vehicle cannot be accurately obtained under complicated driving conditions and the difficulty in providing accurate input for the concurrent optimization of vehicle handling stability and ride comfort,a dual nonlinear state observer algorithm based on vehicle vertical and lateral coupling dynamics is designed to achieve real time accurate estimation of vehicle coupling roll motion state under complicated driving conditions.Firstly,the road excitation model and vehicle vertical and lateral coupling dynamics model are established.Then by utilizing the unscented Kalman filtering(UKF)technique and the nonlinear fuzzy observation(T-S)theory,a nonlinear state observation algorithm is designed and a joint-estimation on the sprung mass and rolling state of vehicle system is conducted under different road excitation conditions.Finally,by applying dynamics software CarSim■,the observation accuracies of vehicle roll angle and rolling rate real time estimated by joint state observer UKF&T-S on standard A-and C-grade roads are comparatively analyzed under J-turn test conditions.The results show that the UKF&T-S observer designed can effectively estimate the roll state of vehicle,with a less than 10%standard deviation of identified state,compared with the CarSim■ simulation data.

关 键 词：状态估计 耦合动力学 无迹卡尔曼滤波 模糊观测器 道路激励模型 侧倾运动 

分 类 号：U46[机械工程—车辆工程]