摘要
对车辆动力学控制中的道路路面附着系数实时估计问题进行研究。首先使用魔术公式建立1/4车辆制动模型,即车轮制动动力学模型;然后将其中的附着系数相关项视为制动系统的扩张状态,建立其扩张状态观测器,通过轮速信号和制动力矩信号实时观测制动过程中地面与轮胎间的纵向力,进而计算出路面附着系数;最后在均匀路面和突变路面条件下进行仿真研究。结果表明,所提出的方法对车辆制动系统参数摄动和传感器噪声具有鲁棒性,可以准确地实现道路路面附着系数的实时估计,观测器与控制器设计具有一定独立性。
The road adhesion coefficient real-time estimation for vehicle dynamic control was investigated. Firstly,dynamic model of tire for braking was given based on magic formulation. Secondly,the related item to adhesion coefficient of the dynamic model was considered as one extended state of braking system,so extended state observer （ESO） was designed to estimate friction force between roads and tire in real-time based on the velocity of wheel and torque for braking. Adhesion coefficient was deduced. Finally,simulations were performed on uniformity road and varied road. The simulation results showed this method was robust to parameters perturbation of braking system and sensor noise,it could estimate adhesion coefficient exactly in real-time. Observer was separated from controller design.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2010年第8期6-9,15,共5页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家"863"高技术研究发展计划资助项目(2007AA04Z206)
中国博士后科学基金计划资助项目(20080431189)
山东省优秀中青年科学家科研奖励基金资助项目(2008BS05003)
关键词
路面附着系数
实时估计
扩张状态观测器
Adhesion coefficient
Real-time estimate
Extended state observer
