车辆雨刷系统非线性动态模型颤振控制研究  

Flutter Control of Nonlinear Dynamic Model of VehicleWiper Systems

作　　者：袁新建 缪伟志 罗佳丽 李舜酩 YUAN Xinjian;MIAO Weizhi;LUO Jiali;LI Shunming(College of Automotive Engineering,Nantong Institute of Technology,Nantong 226002,Jiangsu,China)

机构地区：[1]南通理工学院汽车工程学院,江苏南通226002

出　　处：《噪声与振动控制》2025年第1期190-196,共7页Noise and Vibration Control

基　　金：国家自然科学基金资助项目(51975262)。

摘　　要：车辆挡风玻璃与雨刮胶条间的颤振发生时机难以预测,如需要监控,就需要进行测量并控制发生源的状态。将非线性和不连续摩擦特性相结合,并将雨刮器回程时不连续的摩擦特性分成依赖速度变化的项和不依赖速度的项,从而建立雨刮器颤振估计模型。设计扩展卡尔曼滤波器(Extended Kalman Filter,EKF)并对其性能进行评价,通过实验验证了所提出的EKF可以准确估计颤振;同时证明使用tanh函数进行线性化是一种可以消除不连续性的有效技术。在考虑噪声叠加和控制臂尖端角速度误差条件下进行实验,结果显示:状态估计观测器中的平均误差值为16.068 deg/s,传统型卡尔曼滤波器为20.497 deg/s,而所提出的扩展卡尔曼滤波器仅为7.609 6 deg/s。结果验证了所提出的非线性动态模型满足对于雨刮器振幅和相位高精度推定的需求。Flutter between the windshield and the wiper blade occurs at an unpredictable time.Monitoring the flutter needs to measure and control the state of the flutter source.In this study,the non-linear and discontinuous friction characteristic was considered.The discontinuous friction characteristic of the wiper blade during its return stroke was divided into a velocity-dependent term and a velocity-independent term,so that a wiper blade vibration estimation model was established.Then,an extended Kalman filter(EKF)was designed to evaluate its performance.Through the experimental analysis,it is verified that the proposed EKF can accurately estimate the flutter,and using hyperbolic tangent function linearization is an effective technique to eliminate the discontinuity.The experiments considering noise superposition and the angular velocity error at the control arm tip shows that the average error is 16.068 deg/s in the state estimation observer,is 20.497 deg/s for the traditional Kalman filter,and is only 7.6096 deg/s for the proposed extended Kalman filter.The results verify that the proposed non-linear dynamic model can meet the demand for high-precision prediction of wiper blade amplitude and phase.

关 键 词：振动与波 非线性动态模型 颤振 雨刮器 扩展卡尔曼滤波器 

分 类 号：U461.1[机械工程—车辆工程]