基于H-infinity动态观测器的车辆质心侧偏角融合估计算法  

H-infinity dynamic-observer-based fusion estimation of vehicle sideslip angle

作　　者：唐健良 曹鑫鑫[2] 严家添 耿莉敏[2] 高楠[2] TANG Jianliang;CAO Xinxin;YAN Jiatian;GENG Limin;GAO Nan(Guangzhou Gonglu Engineering Company,Guangzhou 510730,China;School of Energy and Electrical Engineering,Chang’an University,Xi’an 710018,China)

机构地区：[1]广州公路工程集团有限公司,广州510730 [2]长安大学能源与电气工程学院,西安710018

出　　处：《重庆理工大学学报（自然科学）》2023年第10期89-97,共9页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金面上项目(211022210522);陕西省创新能力支撑计划项目(2021TD-28)。

摘　　要：针对车辆控制系统中关键参数质心侧偏角的估计问题,提出一种基于H-infinity理论和动态观测器理论的融合估计算法。提出的动态观测器具有动态变量,可以提高估计算法的暂态和稳态性能。通过引入偏差向量和构建李雅普诺夫函数,结合H-infinity理论,将动态观测器参数矩阵的求解问题转换成线性矩阵不等式的求解问题。建立车辆2自由度非线性动力学模型,采用质心侧偏角作状态变量,利用动态观测器对其进行估计。最后,在Simulink中搭建基于H-infinity理论和动态观测器理论的车辆质心侧偏角融合估计算法模型,并进行CarSim-Simulink联合仿真,对提出的算法进行仿真验证。In this paper,a fusion estimation algorithm based on H-infinity theory and dynamic observer theory is proposed to estimate the center of mass sideslip angle,a key parameter in vehicle control system.The proposed dynamic observer has dynamic variables,which can improve the transient and steady-state performance of the estimation algorithm.By introducing deviation vector,constructing Lyapunov function and combining H-infinity theory,the problem of solving parameters matrix of dynamic observer is transformed into a problem of solving linear matrix inequalities(LMI).Then,a two-degree-of-freedom nonlinear dynamic model is established,which is estimated by the dynamic observer using the side-deflection angle of the centroid as the state variable.Finally,a vehicle centroid angle fusion estimation algorithm model based on H-infinity theory and dynamic observer theory is built in Simulink,and CarSim-Simulink co-simulation was carried out to verify the proposed algorithm.

关 键 词：H-INFINITY 动态观测器 质心侧偏角 线性矩阵不等式 

分 类 号：TP271.62[自动化与计算机技术—检测技术与自动化装置]