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分布式驱动电动汽车状态与路面附着系数估计

Estimation of State and Road Adhesion Coefficient for Distributed Drive Electric Vehicles
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摘要 【目的】准确获取车辆行驶状态参数和路面附着系数对于维持分布式驱动电动汽车的安全性和稳定性十分重要,针对于此,研究了一种能够准确估计其参数的算法,既能降低量产车辆的成本,又能达到车辆安全稳定的目的。【方法】首先,建立三自由度车辆模型,应用基于奇异值分解方法(SVD)的容积卡尔曼滤波算法搭建参数估计器。然后,搭建Carsim/Simulink联合仿真实验平台,采用高、低附着和对接路面双移线工况进行仿真验证。【结果】仿真实验结果表明,估计器能够较准确地估计出参数的真实值。基于仿真的良好估计效果,搭建实车实验平台,进一步进行验证得出,实车实验结果与仿真结果趋势一致,该算法具有较好的估计准确性和时效性。 【Purposes】 Accurate acquisition of vehicle driving state parameters and road adhesion coefficient is very important to maintain the safety and stability of distributed drive electric vehicles. Therefore, it is necessary to get an algorithm that can accurately estimate the parameters, which can not only reduce the cost of mass production vehicles, but also achieve the purpose of vehicle safety and stability. 【Methods】 In this paper, a joint estimation algorithm is investigated. First, a 3-degree-of-freedom vehicle model is established, and a parameter estimator is built by applying the volumetric Kalman filtering algorithm based on the singular value decomposition method. Then, the Carsim/Simulink simulation experiment platform is built, and high and low attachments and buttressing road double shift line conditions are used for simulation verification. 【Findings】 The simulation experiment results show that the estimator can estimate the real values of parameters more accurately. On the basis of the good estimation effect of the simulation, a real vehicle experimental platform is built, and further verification is carried out to conclude that the real-vehicle experimental results are consistent with the trend of the simulation results, and the algorithm has good estimation accuracy and timeliness.
作者 袁媛 王航 赵鹏举 程青丽 YUAN Yuan;WANG Hang;ZHAO Pengju;CHENG Qingli(College of Vehicle and Transportation Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)
出处 《太原理工大学学报》 CAS 北大核心 2024年第4期612-618,共7页 Journal of Taiyuan University of Technology
基金 山西省科技成果转化引导专项(202204021301060)。
关键词 分布式驱动电动汽车 容积卡尔曼滤波 奇异值分解 行驶状态参数 路面附着系数 distributed drive electric vehicles volumetric Kalman filtering singular value decomposition driving state parameters road surface adhesion coefficient
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