车辆动力学状态观测器设计

Design of Vehicle Dynamics State Estimation Observer

针对混合动力电驱动车辆,基于信息融合理论和车辆非线性动力学,通过研究车辆关键动力学参数估计方法、优化设计传感器配置,设计了一种车辆动力学状态观测器.根据整车的系统结构,综合考虑运算速度、数据存储、电磁兼容、硬件成本和可靠性,设计了该状态观测器的硬件电路和软件系统.利用硬件在环试验平台,在不同路面附着系数、不同转向操作、不同车速工况条件下,对动力学状态观测器的参数估计效果进行验证.试验结果表明,观测器估计精度较高,满足工程应用要求.

Aiming at the electric drive vehicle, state estimation method and sensor configuration optimization were researched based on the fusion theory and vehicle nonlinear dynamics. A vehicle dynamic State Estimation Observer（SEO） was designed. According to the requirement of capabilities of calculation, data storage, EMC, cost and reliability for dynamic SEO, the hardware and software were designed based on the vehicle configuration. Simulation analysis with different road adhesion coefficients, different steering operations and different speeds were carried out based on Hardware-In-Loop test bench. The results of simulation showed that the precision of SEO was high and SEO could satisfy the engineering requirements.