基于Uni-Tire轮胎模型的车辆质心侧偏角估计-控制理论与应用.PDF

27 9 Vol. 27 No. 9 2010 9 Control Theory Applications Sep. 2010 :2010 Uni-Tire , , , (1. , 130025; 2. , 130025) : , . – Uni-Tire, ; , . – (input-to-state stability, ISS). CA7180A3E veDYNA, xPC-Target dSPACE, . , , , . : ; ; – ; : TP271.2 : A Vehicle side-slip angle estimation based on Uni-Tire model GUO Hong-yan , CHEN Hong , DING Hai-tao , HU Yun-feng (1. State Key Laboratory of Automobile Dynamic Simulation, Jilin University, Changchun Jilin 130025, China; 2. Department of Control Science and Engineering, Jilin University, Changchun Jilin 130025, China) Abstract: A nonlinear full-order observer is proposed for vehicle side-slip angle estimation to improve the accuracy and the real-time performance of the side-slip angle estimation. The longitudinal velocity, lateral velocity and yaw rate of the vehicle are estimated by the observer using the information of vehicle states which are measured by on-board sensors based on the vehicle dynamic model and Uni-Tire model for longitudinal slip and lateral slip, and then, the estimates of the side-slip angle are determined based on the above results. The stability of the observer is analyzed using the theory of input-to-state stability(ISS). The offline estimation result is validated using the vehicle simulation software veDYNA with the parameters of Hongqi CA7180A3E in critical condition; the real-time performance of the full-order nonlinear observer is tested on the simulation platform using the xPC-Target simulation environment and dSPACE real-time system. The s