欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
针对车辆质心侧偏角估计的准确性和实时性能问题，提出了车辆质心侧偏角估计的非线性全维观测器设计方法．首先基于车辆动力学模型及纵滑-侧偏联合工况下的Uni-Tire轮胎模型，利用车载传感器测量车辆状态；观测器利用这些状态估计出车辆的纵向速度、侧向速度及横摆角速度，并由此得到车辆的质心侧偏角估计．其次利用输入-状态稳定（input-to-state stability,ISS）理论对观测器的稳定性进行了分析．最后采用红旗CA7180A3E型轿车的车辆参数使用车辆仿真软件veDYNA对极限工况下的估计结果进行了离线仿真研究，并利用xPC—Target仿真环境和dSPACE实时仿真系统搭建仿真平台，对非线性全维观测器的实时性进行验证．仿真结果表明，非线性估计方法估计精度较高，实时性较好，可以满足工程应用的要求．
英文摘要：
A nonlinear full-order observer is proposed for vehicle side-slip angle estimation to improve the accuracy and the real-time performance of the side-slip angle estimation. The longitudinal velocity, lateral velocity and yaw rate of the vehicle are estimated by the observer using the information of vehicle states which are measured by on-board sensors based on the vehicle dynamic model and Uni-Tire model for longitudinal slip and lateral slip, and then, the estimates of the side-slip angle are determined based on the above results. The stability of the observer is analyzed using the theory of input-to-state stability（ISS）. The offline estimation result is validated using the vehicle simulation software veDYNA with the parameters of Hongqi CA7180A3E in critical condition; the real-time performance of the full-order nonlinear observer is tested on the simulation platform using the xPC-Target simulation environment and dSPACE real-time system. The simulation results show that the nonlinear estimation method has high estimation precision, good real-time performance and satisfies the requirements of engineering application.
同期刊论文项目
同项目期刊论文
Robust H-infinity control for constrained discrete-time piecewise affine systems with time-varying p
Feedback control of discrete linear switching systems with bounded state and control input in the pr
Observer based clutch disengagement control during gear shift process of automated manual transmissi
A spatial orthogonal allocation and heterogeneous cultural hybrid algorithm for multi-robot explorat
Vision-based long-distance lane perception and front vehicle location for full autonomous vehicles o
A regularity model-based multiobjective estimation of distribution algorithm with reducing redundant
位置：