四轮独立驱动电动汽车行驶状态级联估计
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摘要
建立三自由度车辆模型与轮胎模型,提出电驱动轮模型并将其应用到纵向力估计中,基于自适应高阶滑模观测器实现轮胎纵向力的估计,利用纵向力观测器(longitudinal force observer, LFO)输出值作为已知输入,结合信息融合滤波(information fusion filter, IFF)算法提出一种车辆状态级联估计方法。进行仿真实验、台架实验以及实车道路实验。研究结果表明:设计的纵向力观测器具有较高的纵向力估计精度,基于信息融合滤波的车辆状态估计方法能够实时跟踪车辆状态且估计性能优于扩展卡尔曼滤波(extended Kalman filter, EKF)。
The vehicle model with 3 degree of freedom and the tire model were established. An electric drive wheel model was presented and applied to the longitudinal force estimation. The estimation of tire longitudinal force was realized based on the adaptive high order sliding mode observer. Using the output values of longitudinal force observer as the known input and combining the information fusion filter algorithm, a vehicle state joint estimation method was proposed. The simulation, bench test and road test were carried out. The results show that the designed longitudinal force observer has high estimation accuracy, and the information fusion filter-based vehicle state estimation method can track the vehicle state in real time and has better estimation performance than extended Kalman filter.
The vehicle model with 3 degree of freedom and the tire model were established. An electric drive wheel model was presented and applied to the longitudinal force estimation. The estimation of tire longitudinal force was realized based on the adaptive high order sliding mode observer. Using the output values of longitudinal force observer as the known input and combining the information fusion filter algorithm, a vehicle state joint estimation method was proposed. The simulation, bench test and road test were carried out. The results show that the designed longitudinal force observer has high estimation accuracy, and the information fusion filter-based vehicle state estimation method can track the vehicle state in real time and has better estimation performance than extended Kalman filter.
引文
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[16]HOU M,MULLER P C.Design of observer for linear systems with unknown inputs[J].IEEE Transactions on Automatic Control,1992,37(6):871-875.
[2]刘志强,汪浩磊,杜荣华.考虑参数灵敏度的电动汽车回馈制动模糊控制[J].中南大学学报(自然科学版),2016,47(11):3700-3706.LIU Zhiqiang,WANG Haolei,DU Ronghua.Fuzzy control method of regenerative braking in electric vehicles considering parameter sensitivity[J].Journal of Central South University(Science and Technology),2016,47(11):3700-3706.
[3]夏向阳,孔祥霁,唐欣,等.用于电动汽车的磁集成结构DC/DC变换器[J].中南大学学报(自然科学版),2017,48(3):694-700.XIA Xiangyang,KONG Xiangji,TANG Xin,et al.Integrated magnetics structure DC/DC converter for electric vehicles[J].Journal of Central South University(Science and Technology),2017,48(3):694-700.
[4]陈黎卿,胡冬宝,陈无畏.基于人群搜索算法的四驱汽车扭矩分配控制策略[J].农业机械学报,2015,46(11):369-376.CHENLiqing,HUDongbao,CHENWuwei.Control strategy and experiment of torque distribution for 4WD vehicle based on SOA[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(11):369-376.
[5]LI Xu,SONG Xiang,CHAN Chingyao.Reliable vehicle sideslip angle fusion estimation using low-cost sensors[J].Measurement,2014,51:241-258.
[6]LI Liang,JIA Gang,RAN Xu,et al.A variable structure extended Kalman filter for vehicle side slip angle estimation on a low friction road[J].Vehicle System Dynamics,2014,52(2):280-308.
[7]RAJAMANI R,PIYABONGKARN D,LEW J Y.Tire-road friction coefficient estimation[J].IEEE Control System Magazine,2010,30(4):54-69.
[8]杨斯琦,解小华,陈虹.一种新型的轮胎力级联估计方法[J].信息与控制,2015,44(2):203-214.YANG Siqi,XIE Xiaohua,CHEN Hong.Vehicle tire forces estimation using a novel cascade method[J].Information and Control,2015,44(2):203-214.
[9]林程,周逢军,徐志峰,等.基于补偿自适应控制算法的车辆状态参数估计[J].农业机械学报,2014,45(11):1-8.LIN Cheng,ZHOU Fengjun,XU Zhifeng,et al.Estimation of vehicle status parameters based on compensation adaptive control algorithm[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(11):1-8.
[10]HORI Y.Future vehicle driven by electricity and control-research on four-wheel-motored“UOT electric march II”[J].Vehicle System Dynamics,2012,50(9):1473-1494.
[11]RATH J,VELUVOLU K,DEFOORT M,et al.Higher-order sliding mode observer for estimation of tyre friction in ground vehicles[J].IET Control Theory and Applications,2014,8(6):399-408.
[12]林程,王刚,曹万科,等.基于LO-EKF算法的分布驱动电动汽车状态估计的研究[J].汽车工程,2014,36(11):1316-1320.LIN Cheng,WANG Gang,CAO Wanke,et al.A study on the vehicle state estimation for a distributed-drive EV based on LO-EKF algorithms[J].Automotive Engineering,2014,36(11):1316-1320.
[13]SOLMAZ S,BASLAMISH S.A nonlinear sideslip observer design methodology for automotive vehicles based on a rational tire model[J].International Journal of Advanced Manufacturing Technology,2012,60:765-775.
[14]徐兴,陈特,陈龙,等.基于UIO/双KF的4WID-EV驱动轮纵向力估计[J].汽车工程,2016,38(9):1095-1100.XU Xing,CHEN Te,CHEN Long,et al.Longitudinal force estimation of driving wheels in 4WID-EV based on unknown input observer and dual kalman filters[J].Automotive Engineering,2016,38(9):1095-1100.
[15]徐兴,陈特,陈龙,等.基于改进闭环子空间辨识的电动轮汽车纵向力估计[J].江苏大学学报(自然科学版),2016,37(6):650-656.XU Xing,CHEN Te,CHEN Long,et al.Longitudinal force estimation for motorized wheels driving electric vehicle based on improved closed-loop subspace identification[J].Journal of Jiangsu University(Natural Science Edition),2016,37(6):650-656.
[16]HOU M,MULLER P C.Design of observer for linear systems with unknown inputs[J].IEEE Transactions on Automatic Control,1992,37(6):871-875.