摘要
本文旨在研究轮-地摩擦因数的估计方法。首先建立形式简单的Brush轮胎模型,并通过单轮台架试验验证了模型的准确性。接着建立了转向系统动力学模型和三自由度整车动力学模型。最后,根据轮胎侧偏特性设计了轮胎侧偏角和轮-地摩擦因数的非线性观测器,并在此基础上,提出了一种联合估计算法。在该算法中加入了门限值动态控制,使之同时适用于路面突变的场合。仿真和试验结果表明,所提出的估计方法有效可行。
The estimation method of tire-road friction coefficient is studied in this paper. Firstly simple Brush tire model is built and verified by single wheel bench test. Then a dynamics model for steering system and a 3 DOF vehicle dynamics model are established. Finally, a nonlinear observer for tire side-slip angle and wheel-road friction coefficient is designed based on tire cornering characteristics. On this basis, a combined estimation algorithm is proposed, in which a threshold dynamic control is added for being also adapted to the case of sudden change in road friction. The results of simulation and test show that the estimation method proposed is effective and feasible.
出处
《汽车工程》
EI
CSCD
北大核心
2013年第5期451-456,共6页
Automotive Engineering
关键词
轮-地摩擦因数
轮胎侧偏特性
非线性观测器
门限值控制
tire-road friction coefficient
tire cornering characteristics
nonlinear observer
thresholdcontrol
