大功率变流技术Issue(5)：55-59,5.
基于非线性观测器的路面附着系数估计方法
Estimation Approach of Road Friction Coefficient Based on Nonlinear Observer
摘要
Abstract
In this paper, an algorithm for estimating road friction coefficient based on nonlinear observer is proposed. To solve the problem of the real-time estimation of road friction coefficient while steering, a nonlinear vehicle model is established, and a full-order observer is developed to estimate front tire aligning moment. According to the vehicle lateral dynamic characteristics, and the error between the measure- ments of vehicle sensors and the outputs of vehicle model as observer's Luenberger-type feedback terms, the vehicle sensors are fully used. By means of Lyapunov stability theory, the observer gain is confirmed, and the estimated algorithm is verified under Maflab/Simulink environment. The simulation results show that the estimated algorithm has a good performance under different road conditions.关键词
路面附着系数/车辆模型/轮胎回正力矩/全维观测器/非线性观测器Key words
road friction coefficient/vehicle model/tire aligning moment/full-order observer/nonlinear observer分类
交通运输引用本文复制引用
丁惜瀛,裴延亮,张洪月,于华..基于非线性观测器的路面附着系数估计方法[J].大功率变流技术,2012,(5):55-59,5.基金项目
辽宁省自然科学基金资助项目 （）
沈阳市科技计划项目 （）
