摘要
为实现车辆在非匀速行驶时的悬架相对速度和簧上绝对速度估计,同时减小车载传感器的数量,构造了不考虑车轮动力学、以车轮垂直速度为输入的车辆悬架系统简化模型,设计了一种基于速度自适应轴距预瞄的结合卡尔曼滤波算法估计整车悬架相对速度和簧上绝对速度的方法。仿真结果表明,在车辆非匀速行驶通过低频正弦路面、减速带、凹坑以及典型随机路面时,所提出的方法可以准确估计车辆的悬架相对速度和簧上绝对速度,且速度自适应轴距预瞄的引入减少了传感器的使用数量。
In order to realize the estimation of relative suspension speed and absolute speed of sprung mass at varying vehicle speed,and reduce the number of on-board sensors at the same time,a simplified model of vehicle suspension system with vertical wheel velocity as input is constructed without considering wheel dynamics.A meth⁃od based on speed-adaptive wheelbase preview and Kalman filter algorithm is designed to estimate the relative speed of suspension and absolute speed of sprung mass of the vehicle.The simulation results show that the proposed meth⁃od can accurately estimate the relative suspension speed and sprung absolute speed of vehicles traveling at variable speed through low-frequency sinusoidal road,speed bumps,pits and typical random road,and the application of speed adaptive wheelbase preview reduces the number of sensors used.
作者
陈建华
徐中明
张志飞
Chen Jianhua;Xu Zhongming;Zhang Zhifei(School of Mechanical and Vehicle Engineering,Chongqing University,Chongqing 400030)
出处
《汽车工程》
EI
CSCD
北大核心
2023年第6期1040-1049,共10页
Automotive Engineering
基金
国家自然科学基金(51875060)资助。
关键词
悬架
卡尔曼滤波
轴距预瞄
状态估计
suspension
Kalman filtering
wheelbase preview
state estimation
