基于HSRI模型的参数自适应质心侧偏角观测器的设计

摘要

首先对全维车速观测器进行降维处理,以减少观测器的在线计算量,并设计了非线性级联车速观测器.接着,对路面附着系数和轮胎侧偏刚度进行参数自适应估计,以提高质心侧偏角的估计精度,并基于HSRI轮胎模型设计了参数自适应非线性质心侧偏角观测器.在估算轮胎侧偏刚度时采用无侧向车速的车辆模型,以避免车辆动力学模型与侧向车速观测器的耦合作用,并引入带双重遗忘因子的递推最小二乘法,以保持算法的修正能力和解除不同估计参数之间误差的耦合作用.最后采用Simulink与Carsim动力学仿真软件进行联合仿真验证,结果表明所设计的参数自适应非线性质心侧偏角观测器是有效的,估计精度满足ESC控制的工程要求.%Firstly a dimensionality reduction process is performed on full-dimensional vehicle speed observer for saving its on-line computation efforts with a nonlinear cascaded vehicle speed observer designed. Then a parameter adaptive estimation is conducted on road adhesion coefficient and tire cornering stiffness to improve estimation accuracy of vehicle sideslip angle with a vehicle sideslip angle nonlinear observer with parameter adaptation designed based on HSRI tire model. Vehicle model without lateral speed is used in estimating tire cornering stiffness for avoiding the coupling between vehicle dynamic model and lateral speed observer, and recursive least squares algorithm with double forgetting factors is introduced to maintain algorithm correction capability and remove the errors coupling between different estimated parameters. Finally a co-simulation validation is carried out with software Simu-link and Carsim and the results show that the designed vehicle side-slip angle nonlinear observer with parameter adaptation is effective with an estimation accuracy meeting the engineering requirements of ESC control