车辆轮胎力的鲁棒估计方法研究  

Research on Robust Estimation of Vehicle Tire Forces

作　　者：陈建锋[1,2] 吴强 叶贻财[1] 郭聪聪 CHEN Jian-feng;WU Qiang;YE Yi-cai;GUO Cong-cong(Automotive Engineering Research Institute,Jiangsu University,Jiangsu Zhenjiang 212013,China;School of Electrical and Information Engineering,Changzhou Institute of Technology,Jiangsu Changzhou 213032,China)

机构地区：[1]江苏大学汽车工程研究院,江苏镇江212013 [2]常州工学院电气信息工程学院,江苏常州213032

出　　处：《机械设计与制造》2023年第4期76-79,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(52072159,61603158);常州市科技支撑计划(社会发展CE20225072)。

摘　　要：轮胎力的准确获取对车辆主动安全系统精确控制的实现至关重要。本文提出了一种轮胎力的鲁棒估计方法。在假设系统噪声特性为分布未知但有界的同时,该方法将集员滤波算法引入到轮胎力估计器的设计中,并结合强跟踪理论和序贯更新的思路对该算法进行优化。在此基础上,结合车轮转动动力学模型和双轨车辆动力学模型分别设计轮胎纵向力和侧向力估计器。最后,利用联合仿真平台对所提出的方案进行验证。结果表明:相较于卡尔曼滤波方案,改进的集员滤波方案能够获得更好的估计效果,且对系统噪声和道路状况的变化具有很好的鲁棒性。Accurate acquisition of vehicle tire forces is critical for the precise control performed by vehicle active safety system.This paper investigates a robust estimation strategy for vehicle tire forces.In this strategy,the set-membership filter is introduced into the design of the tire force estimator on the assumption that the system noise is unknown but bounded,and optimized by integrating the strong tracking theory and sequential updating approach.On this basis,the wheel rotation dynamics model and dualtrack vehicle dynamics model are used for the estimator design of the longitudinal and lateral tire forces,respectively.Finally,Co-simulation is implemented for the verification of the proposed strategy.The results indicate that as compared with the Kalman filter,the proposed strategy can achieve better estimation performance,and it is more robust to the changes of system noise and road condition.

关 键 词：鲁棒估计 集员滤波 系统噪声 动力学模型 轮胎力 

分 类 号：TH16[机械工程—机械制造及自动化] U461.1[机械工程—车辆工程]