摘要
轮胎侧偏特性是汽车动力学稳定性控制的基础,轮胎侧偏角是用来表征车辆侧向状态稳定性的重要参量。基于动力学模型的轮胎侧偏角观测方法,在复杂工况下因侧倾转向和变形转向的影响而精度变差,为此提出一种基于自适应双曲正切滑模观测器理论的新型联级观测算法。在车辆的二自由度模型基础上,利用CarSim与Simulink建立车辆联合仿真模型。针对双移线和紧急避障两种典型工况,对比分析了滑模观测算法和自适应双曲正切滑模联级观测算法的侧偏角误差值。结果表明:在不同工况下自适应滑模联级观测算法与滑模观测算法相比,观测误差最大可有效降低61.44%,充分体现算法具有更高的准确性与鲁棒性。
The tire slip characteristics are the basis of a vehicle's dynamics stability control,and the tire slip angle is an important parameter for characterizing the stability of the vehicle's lateral state.The tire slip angle observation method based on the dynamic model is not accurate due to the influence of roll steering and deformation steering under complex working conditions.Therefore,a new cascade observation algorithm based on the adaptive hyperbolic tangent sliding mode observation theory is proposed.Based on the two-degree-of-freedom model of the vehicle,its co-simulation model is established with the CarSim and Simulink software.The sliding mode observation algorithm and the adaptive hyperbolic tangent sliding mode connection are compared and analyzed under two typical working conditions of double shift lines and emergency obstacle avoidance.The results show that the adaptive sliding mode cascade observation algorithm can effectively reduce observation errors by about 61.44%compared with the sliding mode observation algorithm under different working conditions,fully revealing that the algorithm is more accurate and robust.
作者
王云超
周书荣
杨雯颖
WANG Yunchao;ZHOU Shurong;YANG Wenying(Marine Equipment and Mechanical Engineering,Jimei University,Xiamen 361021,Fujian,China)
出处
《机械科学与技术》
CSCD
北大核心
2023年第9期1527-1532,共6页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金面上项目(51575233,51975122)
福建省科技计划自然科学基金项目(2021J01852)。
关键词
轮胎侧偏角
联级观测
自适应控制
tire slip angle
cascade observation
adaptive control
作者简介
王云超(1976−),教授,博士,研究方向为车辆底盘控制和油气悬架系统建模、测试和控制,ychaowang@jmu.edu.cn。
