四轮驱动车辆路面附着系数实时估计
|
摘要
针对目前无法直接测得车辆路面附着系数的问题,通过设计扩张状态观测器及利用递推最小二乘法来实时估计该值.建立7自由度车辆模型,给出车轮受力平衡方程,设计二阶非线性扩张状态观测器.根据轮胎驱动转矩及车轮转速估计当前利用附着系数,并对观测器进行仿真.结果表明,观测器能够有效观测利用附着系数.在已观测出的利用附着系数的基础上,推导了利用附着系数与峰值附着系数间的递推公式,利用递推最小二乘法设计峰值附着系数估计器,并在Matlab/Simulink中进行仿真.结果表明,估计器可以较为快速有效地实现峰值附着系数识别,较为准确地实时估计附着系数.
The road condition can be estimated by the extended state observer and the recursive least square method based on a 7DOF nonlinear vehicle model. in which the wheel force is analyzed,the force equilibrium equation is put forward and then the second order nonlinear extended state observer is designed. The results show that the extended state observer can achieve the observation of the utilization adhesion coefficient. Then a recurrence formula is derived based on the simplified tire model. The model shows the relationship between the utilization adhesion coefficient and the peak adhesion coefficient. The peak adhesion coefficient estimator is designed based on the recursive least square method,and the Matlab / Simulink simulation results show that the estimator can identify the peak adhesion coefficient quickly. The adhesion coefficient estimator can obtain the real-time estimation accurately.
The road condition can be estimated by the extended state observer and the recursive least square method based on a 7DOF nonlinear vehicle model. in which the wheel force is analyzed,the force equilibrium equation is put forward and then the second order nonlinear extended state observer is designed. The results show that the extended state observer can achieve the observation of the utilization adhesion coefficient. Then a recurrence formula is derived based on the simplified tire model. The model shows the relationship between the utilization adhesion coefficient and the peak adhesion coefficient. The peak adhesion coefficient estimator is designed based on the recursive least square method,and the Matlab / Simulink simulation results show that the estimator can identify the peak adhesion coefficient quickly. The adhesion coefficient estimator can obtain the real-time estimation accurately.
引文
[1]LI L,SONG J,LI H Z,et al.Comprehensive prediction method of road friction for vehicle dynamics control[J].Journal of Automobile Engineering,2009,223(8):987-1002.
[2]LEE C,HEDRICK K,KYONGSU Y.Real-time slipbased estimation of maximum tire-road friction coefficient[J].IEEE/ASME Transactions on Mechatronics,2004,9(2):141-143.
[3]ONO E,ASANO K,KOIBUCHI K.Estimation of lateral tire grip margin using electric power steering system[C]//Proceedings of 18th IAVSD Symposium,Dynamics of Vehicles on Road and Tracks.Atsugi:IAVSD,2003:141-143.
[4]SUI Y,TANAKA W,MURAGISHI Y,et al.Estimation of lateral grip margin based on self-aligning torque for vehicle dynamics enhancement[J].SAE Paper,2004,2004-01-1070.
[5]李刚,宗长富,张强,等.基于模糊路面识别的4WID电动车驱动防滑控制[J].华南理工大学学报:自然科学版,2012,40(12):99-104.
[6]KATAOKA H.Optimal slip ratio estimator for traction control system of electric vehicle based on fuzzy inference[J].The Transactions of the Institute of Electrical Engineers of Japan,2000,35(3):56-63.
[7]王强.基于横摆力矩和变滑转率联合控制的电子差速控制系统研究[D].杭州:浙江大学,2004.
[8]靳立强,王庆年,宋传学.电动轮驱动汽车的最佳车轮滑移率实时识别[J].吉林大学学报:工学版,2010,40(4):889-894.
[9]余卓平,左建令,陈慧.基于四轮轮边驱动电动车的路面附着系数估算方法[J].汽车工程,2007,29(2):141-145.
[10]FUJIMOTO H,FUJII K,TAKAHASHI N.Vehicle stability control of electric vehicle with slip-ratio and cornering stiffness estimation[C]//Proceedings of the2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.Zurich:ETH Zurich,2007:1-6.
[11]PACEJKA H B,BAKKER E.The magic formula tyre model:Vehicle system dynamics,vehicle system dynamics[J].International Journal of Vehicle Mechanics and Mobility,1992,21:1-18.
[12]黄一,韩京清.非线性连续二阶扩张状态观测器的分析与设计[J].科学通报,2000,45(13):1373-1379.
[13]韩京清.扩张状态观测器参数与斐波那契数列[J].控制工程,2008,15:1-3.
[14]QIAN Ming.Sliding mode controller design for ABS system[D].Virginia:Virginia Polytechnic Institute and State University,2004.
[15]SADO H,SAKAI S,HORI Y.Road condition estimation for traction control in electric vehicle[C]//ISIE’99-Bled.Slovenia:[s.n.],1999:973-978.
[16]AOKI J,MURAKAMI T.A method of road condition estimation and feedback utilizing haptic pedal[C]//IEEE International Workshop on Advanced Motion Control.Piscataway:IEEE press,2008:777-782.
[2]LEE C,HEDRICK K,KYONGSU Y.Real-time slipbased estimation of maximum tire-road friction coefficient[J].IEEE/ASME Transactions on Mechatronics,2004,9(2):141-143.
[3]ONO E,ASANO K,KOIBUCHI K.Estimation of lateral tire grip margin using electric power steering system[C]//Proceedings of 18th IAVSD Symposium,Dynamics of Vehicles on Road and Tracks.Atsugi:IAVSD,2003:141-143.
[4]SUI Y,TANAKA W,MURAGISHI Y,et al.Estimation of lateral grip margin based on self-aligning torque for vehicle dynamics enhancement[J].SAE Paper,2004,2004-01-1070.
[5]李刚,宗长富,张强,等.基于模糊路面识别的4WID电动车驱动防滑控制[J].华南理工大学学报:自然科学版,2012,40(12):99-104.
[6]KATAOKA H.Optimal slip ratio estimator for traction control system of electric vehicle based on fuzzy inference[J].The Transactions of the Institute of Electrical Engineers of Japan,2000,35(3):56-63.
[7]王强.基于横摆力矩和变滑转率联合控制的电子差速控制系统研究[D].杭州:浙江大学,2004.
[8]靳立强,王庆年,宋传学.电动轮驱动汽车的最佳车轮滑移率实时识别[J].吉林大学学报:工学版,2010,40(4):889-894.
[9]余卓平,左建令,陈慧.基于四轮轮边驱动电动车的路面附着系数估算方法[J].汽车工程,2007,29(2):141-145.
[10]FUJIMOTO H,FUJII K,TAKAHASHI N.Vehicle stability control of electric vehicle with slip-ratio and cornering stiffness estimation[C]//Proceedings of the2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.Zurich:ETH Zurich,2007:1-6.
[11]PACEJKA H B,BAKKER E.The magic formula tyre model:Vehicle system dynamics,vehicle system dynamics[J].International Journal of Vehicle Mechanics and Mobility,1992,21:1-18.
[12]黄一,韩京清.非线性连续二阶扩张状态观测器的分析与设计[J].科学通报,2000,45(13):1373-1379.
[13]韩京清.扩张状态观测器参数与斐波那契数列[J].控制工程,2008,15:1-3.
[14]QIAN Ming.Sliding mode controller design for ABS system[D].Virginia:Virginia Polytechnic Institute and State University,2004.
[15]SADO H,SAKAI S,HORI Y.Road condition estimation for traction control in electric vehicle[C]//ISIE’99-Bled.Slovenia:[s.n.],1999:973-978.
[16]AOKI J,MURAKAMI T.A method of road condition estimation and feedback utilizing haptic pedal[C]//IEEE International Workshop on Advanced Motion Control.Piscataway:IEEE press,2008:777-782.