应用无迹卡尔曼滤波算法的车辆侧倾稳定性控制

Vehicle Roll Stability Control Base on UKF

考虑轮胎的非线性,建立了9自由度动力学车辆模型,并在Matlab/Simulink中建立了仿真模型。针对车身侧倾角及其角速度难以测量的问题,以侧向加速度、4个车轮的垂直加速度、4个轮胎的变形、4个悬架动挠度和横摆角速度等14个状态量作为量测变量,运用无迹卡尔曼滤波算法,设计了基于车辆动力学模型及运动学关系相结合的车身侧倾角及其角速度观测器。仿真结果表明:车身侧倾角及其角速度的理论值和估计值较为吻合。针对车辆转向侧倾过大的问题,基于滑模变结构控制理论和车身侧倾角及其角速度估计值,设计了主动侧倾控制器,并在Matlab/Simulink中进行了仿真。仿真结果验证了主动侧倾控制器的有效性。

Considering the tire is nonlinear, a dynamical model of vehicle including 9 degrees of freedom is built, and a dynamical simulation model is built in Matlab/Simulink. For the problem that the roll angle and roll angle rate is difficult to measured, an observer for the roll angle and roll rate is designed based on the lateral acceleration, vertical acceleration of four wheels, displacement of four wheels, deflection of fours suspensions and yaw rate, using Unscented Kalman Filter, based on the status parameters easily measured, and the result shows the roll angle and roll rate estimated are in accordance with the theoretical value. For the problem that the roll angle and roll rate are excessive while vehicle steering, an active roll controller is designed based on the sliding mode variable structure and the estimated roll angle and roll rate, and we simulated in the MATLAB/Simulink. The result shows the effective of the active roll controller.