基于局部线性化的汽车质心侧偏角估计

Estimation of Vehicle Sideslip Angle Based on Local Linearization

对于汽车侧偏角估计,现有非线性状态观测器反馈增益的设计大多采用解析法,但其仅适用于表达式较简单的轮胎模型。提出一种基于局部线性化设计状态观测器反馈增益的数值方法,使得采用精度更高、表达式更复杂的轮胎模型成为可能。将非线性系统在状态变量空间中离散化,采用数值计算获得若干个工作点处的反馈增益。为便于实时观测应用,这些离散的反馈增益值被拟合为关于状态变量的函数。在一个高精度的车辆动力学实时仿真环境中验证了所提出侧偏角估计方法的有效性及其对参数变化的鲁棒性。仿真结果表明,所提出估计方法估计精度较高,具有较好的鲁棒性。

A numerical methodology for designing observer feedback gains based on local linearization was proposed to make employing tire models with a higher accuracy and more complicated expressions become possible.The proposed methodology was implemented by discretization of the nonlinear system in the state space and calculation of the feedback gains at a certain given number of operating points using numerical approaches.The gains at discretized operating points were fitted to the expressions with respect to state variables to facilitate real-time observation and implementations.The effectiveness and parameter variation robustness of the proposed methodology were evaluated in a high-fidelity vehicle dynamics simulation environment,and the simulation results show that the proposed methodology has a high estimation accuracy and good robustness.