基于滑模观测器的车辆质心侧偏角估测-中国测试.PDF

第44卷第5期 中国测试 Vol.44 No.5 2018年5月 CHINA MEASUREMENT TEST May袁2018 doi院10.11857/j.issn.1674-5124.2018.05.008 基于滑模观测器的车辆质心侧偏角估测 1 1袁2 1 1 彭 博 袁 张缓缓 袁 肖文文 袁 轩飞虎 渊1.上海工程技术大学汽车工程学院袁上海 201620曰2.吉林大学 汽车仿真与控制国家重点实验室袁吉林 长春 130025冤 摘 要院在汽车稳定性控制中袁车辆质心侧偏角是一个重要的参数袁直接测量其大小费用昂贵遥为研究车辆质心侧偏 角袁以非线性魔术轮胎模型和二自由度模型为基础袁以模型输出的横摆角速度为反馈量袁建立滑模观测器袁估算车辆 质心侧偏角遥 引入饱和函数为切换函数袁减少由符号函数引起的抖振遥 在Carsim平台建立整车模型以及高附着系 数尧低附着道路模型袁利用Matlab/Simulink模块建立观测器模型袁两者联合仿真遥通过与龙贝格观测器估算质心侧偏 角方法比较袁滑模观测器在轮胎处于线性和非线性区域时估算结果更准确遥 关键词院质心侧偏角曰滑模观测器曰魔术轮胎模型曰非线性模型曰仿真 文献标志码院A 文章编号院1674-5124渊2018冤05-0043-06 Estimation of vehicle sideslip angle based on a sliding-mode observer 1 1袁2 1 1 PENG Bo 袁 ZHANG Huanhuan 袁 XIAO Wenwen 袁 XUAN Feihu 渊1.School of Automotive Engineering袁Shanghai University of Engineering Science袁Shanghai 201620袁China曰 2.State Key Laboratory of Automotive Simulation and Control袁Jilin University袁Changchun 130025袁China冤 Abstract: Vehicle sideslip angle is an important parameter in the stability control of vehicle袁 and it is expensive to directly measure it. In order to research vehicle sideslip angle袁 sliding-mode observer is established to estimate the vehicle sideslip angle based on nonlinear Pacejka tire model and two-degree-of-freedom model and the feedback quantity of yaw velocity model output. The saturation function is introduced as a switching function to reduce the chattering caused by the symbolic function. Vehicle model袁 high attachment coefficient and low attachment road model are establish