基于参数自适应的电动汽车整车质量辨识算法
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摘要
为减少电动汽车(EV)质量估算模型在工程应用中对车辆参数的依赖性,提出了一种整车质量估算算法。该算法能适应空气阻力、迎风面积和传动比等部分车辆参数变化。基于车载终端获得的车辆运行信息,完成传动比和坡度的还原,并将空气阻力中的空气密度、迎风面积、风阻系数作为整体,与整车质量一同借助扩展Kalman滤波算法完成联合辨识。结果表明:在不同整车质量以及道路环境下,质量参数辨识的平均误差为3.74%。因此,该算法可以实时得到质量辨识结果,且对车辆参数具有较好的自适应能力。
A vehicle mass estimation algorithm, which can adapt to the variation of air resistance, windward area and transmission ratio, was proposed to reduce the dependence of mass estimation model on vehicle parameters for electric vehicle(EV) in engineering applications. The reduction of transmission ratio and slope were identified on the base of the vehicle operation information obtained through vehicle terminal. The air density, windward area and wind resistance coefficient extracted from air resistance were regarded as a parameter, which was identified by the extended Kalman filter algorithm together with the vehicle mass. The results show that the average error of quality parameter identification is 3.74% under different vehicle mass and road environments. The proposed algorithm can estimate vehicle mass in real time with good adaptability to variation of vehicle and environment parameters.
A vehicle mass estimation algorithm, which can adapt to the variation of air resistance, windward area and transmission ratio, was proposed to reduce the dependence of mass estimation model on vehicle parameters for electric vehicle(EV) in engineering applications. The reduction of transmission ratio and slope were identified on the base of the vehicle operation information obtained through vehicle terminal. The air density, windward area and wind resistance coefficient extracted from air resistance were regarded as a parameter, which was identified by the extended Kalman filter algorithm together with the vehicle mass. The results show that the average error of quality parameter identification is 3.74% under different vehicle mass and road environments. The proposed algorithm can estimate vehicle mass in real time with good adaptability to variation of vehicle and environment parameters.
引文
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[2]Vahidi A,Stefanopoulou A,Peng H.Recursive least squares with forgetting for online estimation of vehicle mass and road grade:theory and experiments[J].Vehi Syst Dyna,2005,43(1):31-55.
[3]Mc Intyre M L,Ghotikar T J,Vahidi A,et al.A two-stage Lyapunov-based estimator for estimation of vehicle mass and road grade[J].IEEE Trans Vehi Tech,2009,58(7):3177-3185.
[4]Eriksson A.Implementation and evaluation of a mass estimation algorithm[D].Stockholm:KTH Electrical Engineering,2009.
[5]Bjorn Lundin.Estimation of vehicle mass using an Extended Kalman Filter[D].Gothenburg:Chalmers University of Technology,2012.
[6]Rhode S,Gauterin F.Vehicle mass estimation using a total least-squares approach[C]//Intel Transport Syst(ITSC),2012 15th Int’l IEEE Conf IEEE,Anchorage,Alaska,2012:1584-1589.
[7]李远方.重型车质量辨识及道路坡度状态估计方法研究[D].吉林:吉林大学,2012.LI Yuanfang.Research on the identification of mass for heavy vehicle and the estimation of road gradient[D].Jilin:Jilin University,2012.(in Chinese)
[8]褚文博,罗禹贡,罗剑,等.电驱动车辆的整车质量与路面坡度估计[J].清华大学学报:自然科学版,2014,54(6):724-728.CHU Wenbo,LUO Yugong,LUO Jian,et al.Vehicle mass and road slope estimates for electric vehicles[J].J Tsinghua Univ:Natu Sci,2014,54(6):724-728.(in Chinese)
[9]罗培培.重型液力传动车辆质量与道路坡度识别[D].北京:北京理工大学,2015.LUO Peipei.Vehicle mass and road slope recognition for heavy vehicle with hydraulic transmission[D].Beijing:Beijing Institute of Technology,2015.(in Chinese)
[10]李海青,杨秀建,陈蜀乔.载货汽车质量与路面坡度联合估计方法研究[J].汽车开发方法,2015(8):54-58.LI Haiqing,YANG Xiujian,CHEN Shuqiao.Research on co-estimation method of mass and grade for heavy vehicles[J].Automobile Technology,2015(8):54-58.(in Chinese)
[11]张文娟.基于实际载荷行驶工况的公交车动力系统优化[D].天津:天津大学,2014.ZHANG Wenjuan.Optimization of bus powertrain system based on the actual load driving conditions[D].Tianjin:Tianjin University,2014.(in Chinese)
[12]余志生.汽车理论(第三版)[M].北京:机械工业出版社2010:14-15YU Zhisheng.Automobile Theory(3th Ed)[M].Beijing:China Machine Press,2010:14-15.(in Chinese)
[13]夏冰.基于功能原理的重型车质量辨识方法研究[D].吉林:吉林大学,2013.XIA Bing,Research on the identification of mass for heavy-duty vehicle based on the work-energy principle[D]Jilin:Jilin University,2013.(in Chinese)
[14]李殿璞.非线性控制系统理论基础(第2版)[M].北京:清华大学出版社,2014:137-143.LI Dianpu.Theoretical Basis of Nonlinear Control Systems(2nd Ed)[M].Beijing:Tsinghua University Press,2014:137-143.(in Chinese)