基于轮胎回正力矩的路面附着系数估计方法
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摘要
路面附着系数的识别对汽车稳定性控制起着至关重要的作用。轮胎回正力矩能够反映整车及轮胎的运动、受力状况以及路面环境信息,且利用回正力矩能比使用侧向力更早地估计轮-地接触状况。为此,本文设计一种基于轮胎回正力矩的路面附着系数估计方法。首先,基于二自由度车辆模型设计轮胎侧偏角反馈观测器,对轮胎侧偏角进行实时估计;其次,基于轮胎侧偏角和轮胎回正力矩信息设计路面附着系数估计器,构建路面附着系数评估函数;最后,搭建Carsim与Simulink联合仿真平台,仿真结果表明设计的估计算法能够有效地对路面附着系数进行估计。
The identification of road friction plays an important role in the vehicle stability control system. The tire self-aligning torque can reflect the motion and force of the vehicle and the tire, and the information of the road. In addition, the tire self-aligning can be used to estimate of wheel to ground contact status earlier than the lateral force. This paper proposes a tire-road friction coefficient estimation method based on the tire self-aligning torque. Firstly, based on the 2-DOF vehicle dynamic model, a feedback observer is built for the real-time estimation of the tire side slip angle. Secondly, based on the information of the tire side angle and the tire self-aligning torque, the road adhesion coefficient estimator is designed, and the evaluation function of the road adhesion coefficient is constructed. Finally, a simulation platform is built by Carsim and Matlab/Simulink software. The results show that the designed estimation algorithm can effectively estimate the road adhesion coefficient.
The identification of road friction plays an important role in the vehicle stability control system. The tire self-aligning torque can reflect the motion and force of the vehicle and the tire, and the information of the road. In addition, the tire self-aligning can be used to estimate of wheel to ground contact status earlier than the lateral force. This paper proposes a tire-road friction coefficient estimation method based on the tire self-aligning torque. Firstly, based on the 2-DOF vehicle dynamic model, a feedback observer is built for the real-time estimation of the tire side slip angle. Secondly, based on the information of the tire side angle and the tire self-aligning torque, the road adhesion coefficient estimator is designed, and the evaluation function of the road adhesion coefficient is constructed. Finally, a simulation platform is built by Carsim and Matlab/Simulink software. The results show that the designed estimation algorithm can effectively estimate the road adhesion coefficient.
引文
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[3]余卓平,左建令,张立军.路面附着系数估算技术发展现状综述[J].汽车工程,2006,28(6):546-549.
[4]Wang R,Wang J.Tire-road friction coefficient and tire cornering stiff-ness estimation based on longitudinal tire force difference genera-tion[J].Control Engineering Practice,2013,21(1):65-75.ONO,Eiichi,ASANO,et al.Estimation of tire grip margin using electric power steering system[J].Vehicle System Dynamics,2004.
[5]Kurishige M,Tanaka H,Inoue N,et al.An EPS Control Strategy to Improve Steering Maneuverability on Slippery Roads[C].SAE 2002World Congress&Exhibition.2002.
[6]余志生.汽车理论.第5版[M].机械工业出版社,2009.
[7]PACEJKA H B.Tyre and vehicle dynamics[M].Oxford:Butterworth Heinemann,2002:172-184.
[8]李绍松,宗长富,吴振昕,等.电动助力转向主动回正控制方法[J].吉林大学学报(工),2012,42(6):1355-1359.
[2]李亮,朱宏军,陈杰,等.用于汽车稳定性控制的路面附着识别算法[J].机械工程学报,2014,50(2):132-138.
[3]余卓平,左建令,张立军.路面附着系数估算技术发展现状综述[J].汽车工程,2006,28(6):546-549.
[4]Wang R,Wang J.Tire-road friction coefficient and tire cornering stiff-ness estimation based on longitudinal tire force difference genera-tion[J].Control Engineering Practice,2013,21(1):65-75.ONO,Eiichi,ASANO,et al.Estimation of tire grip margin using electric power steering system[J].Vehicle System Dynamics,2004.
[5]Kurishige M,Tanaka H,Inoue N,et al.An EPS Control Strategy to Improve Steering Maneuverability on Slippery Roads[C].SAE 2002World Congress&Exhibition.2002.
[6]余志生.汽车理论.第5版[M].机械工业出版社,2009.
[7]PACEJKA H B.Tyre and vehicle dynamics[M].Oxford:Butterworth Heinemann,2002:172-184.
[8]李绍松,宗长富,吴振昕,等.电动助力转向主动回正控制方法[J].吉林大学学报(工),2012,42(6):1355-1359.