基于卡尔曼滤波的车辆硬件在环系统的精确设计  

Accurate design of vehicle hardware-in-the-loop system based on Kalman filter

作　　者：张明德 刘延 褚观耀 ZHANG Mingde;LIU Yan;CHU Guanyao(China Automotive Engineering Research Institute(Chongqing)Vehicle Inspectiong Co.,Ltd,Chongqing 402371,China)

机构地区：[1]中汽院(重庆)汽车检测有限公司,重庆402371

出　　处：《自动化与仪器仪表》2021年第10期80-83,共4页Automation & Instrumentation

摘　　要：车辆硬件在环系统可以减少汽车研发周期,验证整车控制效果,在当下汽车研发起着重要作用。由于硬件在环系统的测试信号经常带有大量噪声,对于后续的控制有很大影响,根据卡尔曼滤波的基本算法原理,在硬件在环的测试系统加入卡尔曼滤波器,并与不加卡尔曼滤波器作了对比。在MATLAB/Simulink中搭建了整车电子稳定控制系统,并与CarSim联合仿真,构建了汽车电子稳定控制的硬件在环系统,研究了卡尔曼滤波对于系统控制改进效果。结果表明,卡尔曼滤波能够有效地消除噪声,并且对于控制输出结果有明显地改善,还可以减小控制过程中的耗能,明显提升整车稳定性。The vehicle hardware-in-the-loop system can reduce the vehicle development cycle and verify the control effect, which plays an important role in the current automobile research and development. Since there is lots of noise in test signals of hardware-in-the-loop system, the control effect is often affected. This paper adds a Kalman filter to the hardware-in-the-loop test system based on the basic algorithm principle of Kalman filter, and compares it with no Kalman filter. The electronic stability control system of the global vehicle was built in MATLAB/Simulink, and the co-simulated with CarSims is performed. The hardware-in-the-loop system of the car ESC was constructed, and the effect of Kalman filtering on the system control improvement was studied. The results show that Kalman filter can effectively eliminate noise and significantly improve the control output results, and the power cost of control is reduced and the stability of global vehicle is significantly improved.

关 键 词：卡尔曼滤波 硬件在环系统 电子稳定控制系统 联合仿真 

分 类 号：TP202[自动化与计算机技术—检测技术与自动化装置]