基于扩张观测理论的车辆质心侧偏角估计方法研究

Side-Slip Angle of the Center of Mass of Automobile Estimation Research Based on the Theory of Expansion of Observation

为了实现对车辆行驶状态参数的估算,建立了车辆单轨二自由度数学模型,并以扩张观测理论为基础,设计了一种能够实时追踪车辆行驶状态参数的线性扩张观测器,利用可以直接获取的横摆角速度,车轮转角和纵向车速对质心侧偏角进行估计,并应用李雅普诺夫函数法对所设计的扩张观测器参数进行优化。在Matlab中在不同的车速下对设计的质心侧偏角观测器进行实验验证.实验结果表明:所设计的线性扩张观测器不仅能够对车身质心侧偏角进行很好的估算,而且具有很好的抗干扰性,纵向车速的改变,没有影响观测的精度。

In order to estimate traffic state parameter of vehicle, the two degrees-of-freedom of monorail model of vehicle is established in this paper ,and based on the theory of expansion of observation, the observer which can track the running parameters of tracked vehicle in a real time ,and with which the side-slip angle of the center of mass can be estimated by obtaining the yaw rate and wheel steering angel and wheel speed directly .parameters optimization of the designed extended observer is done with the method of Lyapunov function. The observer of side-slip angle of the center of mass of the vehicle designed in this paper is validated in different speed of vehicle in Matlab. The results of experiment show that the linear extended observer designed in it can not only estimate side-slip angle of the center of mass of the vehicle well,and also anti interference well that the change of longitudinal speed of vehicle has no effect on observation accuracy.