基于递推最小二乘法的半挂汽车列车结构参数估计

Parameter Estimation for Tractor- Semitrailer Vehicle Based on Recursive Least Square Method

准确获取车辆的结构参数对汽车的主动安全控制至关重要.该文主要研究半挂汽车列车稳定性控制中的结构参数估计.基于汽车纵向动力学的半挂汽车列车整车质量与路面纵向坡度的多遗忘因子递推最小二乘算法(RLS)估计方法,利用估计的整车质量获取挂车的横摆转动惯量;根据线性四自由度(4-DOF)半挂汽车列车模型,探讨了半挂汽车列车轮胎侧偏刚度的RLS估计算法,并讨论了不同初始值对估计效果的影响.基于商用车动力学仿真标准软件TruckSim建立了某半挂汽车列车的非线性车辆模型,通过平路面和不同坡度路面上的动力学仿真对估计方案进行了验证,结果表明,相关参数的估计值和实际值吻合良好,对提高半挂汽车列车主动安全控制的性能具有重要意义.

Accurate estimation of vehicle structural parameters is crucial for vehicle safety control system.This paper focuses on the issue of parameter estimation algorithm for the tractor -semitrailer combination.An identification scheme for estimating tractor-semitrailer vehicle parameters such as mass and grade is designed and presented based on the longitudinal dynamics and recursive least square with multiple forgetting factors algorithm.With the estimated mass information,trailer yaw moment of inertia can be obtained.Also,following the estimated mass and inertia parameters and the recursive least square method,the tyre cornering stiffness identifying scheme is formulated based on a 4-degrees-of-freedom （4DOF）tractor-semitrailer vehicle model.The effect of the initial values adopted for the estimated parameters is discussed in detail.The proposed parameter identifying schemes are evaluated by simulation in TruckSim which is a famous commercial vehicle dynamics simulation platform.The results show that the estimated parameter values can well agree with the actual values, so the proposed estimation scheme is satisfying.