在汽车稳定性控制中,车辆质心侧偏角是一个重要的参数,直接测量其大小费用昂贵.为研究车辆质心侧偏角,以非线性魔术轮胎模型和二自由度模型为基础,以模型输出的横摆角速度为反馈量,建立滑模观测器,估算车辆质心侧偏角.引入饱和函数为切换函数,减少由符号函数引起的抖振.在Carsim平台建立整车模型以及高附着系数、低附着道路模型,利用Matlab/Simulink模块建立观测器模型,两者联合仿真.通过与龙贝格观测器估算质心侧偏角方法比较,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.%Vehicle sideslip angle is an important parameter in the stability control of vehicle, and it is expensive to directly measure it. In order to research vehicle sideslip angle, 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, high attachment coefficient and low attachment road model are established on Carsim platform and observer model is also established based on Matlab/Simulink module for joint simulation. By comparing with Luenberger observer sideslip angle method, estimation results of sliding-mode observer are more accurate when the tire is in the linear or non-linear region.
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