基于LO-EKF算法分布驱动电动汽车状态估计研究.pdfVIP

学兔兔 汽 车 工 程 2014年(第36卷)第11期 Automotive Engineering 2014246 基于LO—EKF算法的分布驱动电动汽车状态估计的研究术 林 程 ，王 刚 ，曹万科 ，周逢军 (1．北京理工大学，电动车辆国家工程实验室，北京 100081；2．山东交通学院汽车工程学院，济南 250023) [摘要] 本文中对分布式驱动电动汽车的状态估计进行研究。首先利用龙伯格状态观测器实时观测对车辆 的状态估计影响较大的路面坡度，接着，提出了采用扩展卡尔曼滤波算法，以车辆ESP传感器所获取的数据信息作 为观测值 ，对分布式驱动电动汽车的动力学状态变量进行估计。最后进行Carsim和MATLAB联合仿真。结果表 明，基于扩展卡尔曼滤波和龙伯格观测器的车辆状态估计算法能较好的估算出车辆的相关动力学状态值，算法可 行，收敛速度较快。 关键词：分布式驱动电动汽车；车辆状态估计；坡度观测；扩展卡尔曼滤波器；龙伯格观测器 A Study on the Vehicle State Estimation for a · Distributed—drive EV Based on LO—EKF Algorithms Lin Cheng ．Wang Gang ．Cao Wanke ＆Zhou Fengjun‘ 1．Beifing Institute of Technology，National Engineering Laboratoryfor Electric Vehicles，Beijing 100081； 2．School of Automotive Engineering．Shandong Jiaotong University． n0n 25O023 『Abstract] A study on vehicle state estimation iS conducted for a distributed—drive electric vehicle in this paper．Firstly Luenberger observer(LO)is adopted to observe the road slope，which has significant effects on vehi— cle state estimation．Then extended Kalman filter f EKF algorithm is used with the data information obtained from ESP sensor as observed value．the dynamics state variables of distributed—drive electric vehicle are estimated．Fina1． 1y a Carsim—Matlab CO—simulation is performed．The results show that the proposed vehicle state estimation algorithm based on LO and EKF iS feasible and can well estimate the relevant dynamics state variables of vehicle with a rather high convergence speed． Keywords：distributed—drive electric vehic