基于混合观测器的车辆质心侧偏角估算

Estimation of Vehicle Sideslip Angle Based on Hybrid Observer

设计了一种用于估算车辆质心侧偏角的混合观测器。该混合观测器包括一个状态观测器,一个动力学积分估算以及一个权值计算模块。其中,状态观测器是基于车辆模型建立的;动力学积分估算是基于车辆的动力学方程建立的,在积分的过程中运用了卡尔曼滤波的方法;权值计算模块由一个车辆状态判别模块和一个模糊控制器构成。采用相平面方法来判别车辆的稳定性状态,通过模糊控制器的输出权值,计算得到车辆的质心侧偏角。仿真实验结果表明,该混合观测器在不同的工况下能够很准确的估算出车辆的质心侧偏角。

A hybrid observer was proposed to estimate the vehicle side slip angle.The hybrid observer includes three parts： a state-space observer,a kinematics integration module and a weight calculation module.The weighting distribution module includes a vehicle stability detection module and a fuzzy controller.The phase plane method was used to detect the stable status of the vehicle.Then,the fuzzy controller was used to calculate the weight of the state-space observer based on the status of the vehicle stability.In order to reduce the integration error of the kinematics integration module,the Kalman filter was used to handle the signals that the sensor measured.So,the hybrid observer can work well in the whole working area of the tire.The simulation results show that the hybrid observer can achieve the precise estimation results whether the vehicle is in linear area or in the nonlinear area.