基于滑模观测器的汽车轮胎力级联估计方法

Cascade Tire-force Estimation Method Based on Sliding-mode Observer

提出了一种新型的基于滑模观测器理论的汽车轮胎力级联估计方法.首先基于单轮滚动动力学模型,以车轮转动角速度及驱动力矩作为输入,针对每个车轮的纵向轮胎力设计了纵向轮胎力滑模观测器.又采用了简化的车辆2自由度模型,以纵向轮胎力估计值、前轮转角、侧向加速度及横摆角速度作为输入,分别设计了前、后轴侧向轮胎力滑模观测器.最后,为验证所设计的观测器的有效性,应用高保真车辆动力学软件ve DYNA进行了仿真研究,并与扩展卡尔曼滤波(extendedKalman filter,EKF)方法进行了对比分析.实验结果表明,基于滑模观测器的车辆轮胎力级联估计方法具有更高的准确性.

We present a novel cascade tire-force estimation framework based on the sliding-mode observer method.We estimate each longitudinal tire force on the basis of the single-wheel vehicle model,which uses the angular velocity and driving torque of the wheel as inputs. Then,we apply a simplified 2-degrees-of-freedom（ 2-DOF） vehicle dynamic model to design the front and rear lateral-tire-force sliding-mode observer,and use the estimated longitudinal tire forces,the front-wheel angle,the lateral acceleration,and the yaw rate as the observer inputs. We experimentally evaulate the proposed tire-force estimation method on the high-precision vehicle dynamic software,ve DYNA,and compare the estimation results with those of the extended Kalman filter（ EKF） method. The results demonstrate that the sliding-mode observer has relatively higher accuracy in estimating tire forces.