颠簸路面下轮胎纵-垂向耦合状态观测及其滑移率控制研究  

Research on Tire Longitudinal-vertical Coupling State Observation and Slip Ratio Control under Bumpy Road

作　　者：李全通 王翔宇 张邦基[1] 李亮[2] 裴宇轩 平先尧 LI Quantong;WANG Xiangyu;ZHANG Bangji;LI Liang;PEI Yuxuan;PING Xianyao(State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body,Hunan University,Changsha 410082;State Key Laboratory of Automotive Safety and Energy,Tsinghua University,Beijing 100084)

机构地区：[1]湖南大学汽车车身先进设计制造国家重点实验室,长沙410082 [2]清华大学汽车安全与节能国家重点实验室,北京100084

出　　处：《机械工程学报》2021年第12期62-73,共12页Journal of Mechanical Engineering

基　　金：博士后创新人才支持计划(BX20200184);安徽省新能源汽车暨智能网联汽车产业技术创新工程(JAC2019022505)资助项目。

摘　　要：颠簸路面下汽车紧急制动时,由于轮胎的上下跳动,传统的防抱死制动系统为了保证车轮滑移率易频繁增压、减压,从而导致制动力不足,甚至诱发危险事故。轮胎纵-垂向耦合状态观测和基于此的修正滑移率控制方法是解决上述问题的基础。基于整车十二自由度纵-垂向耦合动力学模型和电控空气悬架系统输出信息,利用卡尔曼滤波器实时观测垂向轮胎位移和纵向参考车速;考虑颠簸路面下轮胎的上下跳动以及气压电子制动系统压力动态响应特性,提出一种基于滑模理论的修正滑移率控制策略。仿真与硬件在环试验结果表明,与传统滑移率控制方法相比,提出的方案可以准确估计垂向轮胎位移和纵向参考车速,有效提高颠簸路面下紧急制动时的制动强度,进而提升制动安全性。In the emergency braking of the vehicle on bumpy road, due to the up and down movement of the tires, the traditional Anti-lock Braking System tends to frequently pressurize and decompress in order to ensure the wheel slip ratio, resulting in inadequate braking force and even dangerous accidents. Tire longitudinal-vertical coupling state observation and the modified slip ratio control based on this are the basis for solving the above problems. Based on the 12-degree-of-freedom longitudinal-vertical coupling dynamics model of the vehicle and the output information of the Electrically Controlled Air Suspension, a Kalman filter is used to observe the vertical tire displacement and the longitudinal reference speed in real time. Considering the up and down movement of the tires on bumpy roads and the pressure dynamic response characteristics of the Electronic-pneumatic Braking System, a modified slip ratio control strategy based on sliding mode theory is proposed. Simulation and hardware-in-the-loop test results show that compared with the traditional slip ratio control method, the scheme proposed in this study can accurately estimate the vertical tire displacement and the longitudinal reference speed, effectively improve the braking intensity during emergency braking on bumpy road, thereby improve the braking safety.

关 键 词：颠簸路面 轮胎纵-垂向耦合 状态观测 参考车速 滑移率控制 

分 类 号：U469[机械工程—车辆工程]