基于轮速UKF的摩托车ABS车速估计算法研究  

Research on motorcycle ABSvehicle speed estimation algorithmbased on wheel speed UKF

作　　者：马小陆[1] 吴明 邓书朝 MA Xiaolu;WU Ming;DENG Shuchao(Anhui University of Technology,Maanshan 243000,China)

机构地区：[1]安徽工业大学,安徽马鞍山243000

出　　处：《自动化与仪器仪表》2023年第3期111-115,共5页Automation & Instrumentation

基　　金：国家自然科学基金(61472282);安徽省科技重大专项项目(202003a05020028);安徽高校自然科学研究重点项目(KJ2019A0065)。

摘　　要：针对实际摩托车轮速时序离散信号易受干扰、车速估计误差大的问题,提出了一种在不同工况下基于轮速UKF的ABS车速估计算法。通过Matlab/Simulink构建车辆轮胎和制动模型,基于无迹卡尔曼滤波算法进行轮速滤波,对不同工况下摩托车单轮制动、双轮制动场景的车速估计算法进行数值模拟计算。实验结果表明,基于轮速UKF的摩托车ABS参考车速算法能较好地实现车速估计。Aiming at the problem that the actual discrete signal of motorcycle wheel speed is easily disturbed and the speed estimation error is large, an ABS speed estimation algorithm based on wheel speed UKF was proposed under different working conditions. The vehicle tire and braking model was built by Matlab/Simulink, and the wheel speed was filtered based on the unscented Kalman filter algorithm. The speed estimation algorithm of motorcycle single-wheel braking and dual-wheel braking scenarios under different working conditions was simulated. The experimental results show that the motorcycle ABS speed reference algorithm based on wheel speed UKF can achieve the speed estimation better.

关 键 词：不同工况 轮速UKF ABS 车速估计 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]