基于UKF的分布式驱动电动汽车轮胎侧向力估计

Estimation of Tire Lateral Force for Distributed Drive Electric Vehicle Based on UKF

轮胎侧向力是影响车辆横向稳定性的关键因素,但难以对其进行直接检测。利用分布式驱动电动汽车轮胎纵向力可直接计算的特点,将轮胎纵向力作为输入量,基于UKF估计算法实现分布式驱动电动汽车前后轴轮胎侧向合力的估计。结合垂直载荷与轮胎侧向力的关系,实现前后轴左右侧轮胎侧向力的分配。通过CarSim和MATLAB/Simulink联合仿真,分析了UKF估计算法和直接计算法的估计精度,验证了所提出方法的优越性。同时,分析了具有参数不确定性时估计算法的鲁棒性,证明质量参数的不确定性对估计精度影响较大。

The tire lateral forcesisa key factor to affect vehicle lateral stability-. However, it is difficult to be detec- ted directly. The tire longitudinal force of a distributed drive electric vehicle can be calculated directly. It can be taken asinputquantities, and the totaltire lateral forces of the front and rear axle of the distributed drive electric vehicle arees- timated based on the Unscented KalmanFilter （UKF） algorithm. The tire lateral forces distribution on the left and right side of axis are realized by combining the relationship between the vertical load and the tire lateral force. Through the co -simulation of CarSim and MATLAB/ Simulink, the estimation accuracies of the UKF and the direct calculation method were analyzed, and the superiority- of the proposed method was verified. At the same time, the robustness of the estimation algorithm with parameter uncertaintieswere analyzed, and it is proved that the uncertainty- of the quality- pa- rameter has a great influence on the estimation accuracy.