| 引用本文: | 赵立军,邓宁宁,葛柱洪,刘昕晖.四轮驱动车辆路面附着系数实时估计[J].哈尔滨工业大学学报,2014,46(11):42.DOI:10.11918/j.issn.0367-6234.2014.11.007 |
| ZHAO Lijun,DENG Ningning,GE Zhuhong,LIU Xinhui.Real-time road condition estimation for four-wheel-drive vehicle[J].Journal of Harbin Institute of Technology,2014,46(11):42.DOI:10.11918/j.issn.0367-6234.2014.11.007 |
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| 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. |
| 关键词: 四轮驱动车辆 利用附着系数 扩张状态观测器 峰值附着系数 |
| DOI：10.11918/j.issn.0367-6234.2014.11.007 |
| 分类号:U461 |
| 基金项目:国家自然科学基金(51275126);威海市科技发展计划项目(2012DXGJ13). |
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| Real-time road condition estimation for four-wheel-drive vehicle |
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ZHAO Lijun1,2, DENG Ningning1, GE Zhuhong1, LIU Xinhui2
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(1.School of Automobile Engineering, Harbin Institute of Technology(Weihai), 264209 Weihai, Shandong, China; 2. College of Mechanical Science and Engineering, Jilin University, 130025 Changchun, China)
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| Abstract: |
| 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. |
| Key words: four-wheel-drive vehicle utilization adhesion coefficient extended state observer peak adhesion coefficient |
