信息与控制2016，Vol.45Issue(2)：177-184,8.DOI:10.13976/j.cnki.xk.2016.0177
基于滑模观测器的汽车轮胎力级联估计方法
Cascade Tire-force Estimation Method Based on Sliding-mode Observer
摘要
Abstract
We present a novel cascade tire-force estimation framework based on the sliding-mode observer method. We estimate each longitudinal tire force on the basis of the single-wheel vehicle model,which uses the angular velocity and driving torque of the wheel as inputs.Then,we apply a simplified 2-degrees-of-freedom (2-DOF)vehicle dynamic model to design the front and rear lateral-tire-force sliding-mode observer,and use the estimated longitudinal tire forces,the front-wheel angle,the lateral acceleration,and the yaw rate as the ob-server inputs.We experimentally evaulate the proposed tire-force estimation method on the high-precision ve-hicle dynamic software,veDYNA,and compare the estimation results with those of the extended Kalman filter (EKF)method.The results demonstrate that the sliding-mode observer has relatively higher accuracy in esti-mating tire forces.关键词
滑模观测器/车辆轮胎力估计/车辆动力学/扩展卡尔曼滤波(E KF )Key words
sliding mode observer/tire force estimation/vehicle dynamics/extended Kalman filter (E KF )分类
信息技术与安全科学引用本文复制引用
麻颖俊,郭洪艳,陈虹,杨斯琦..基于滑模观测器的汽车轮胎力级联估计方法[J].信息与控制,2016,45(2):177-184,8.基金项目
国家自然科学基金重大研究计划集成项目（91220301）；国家973计划资助项目（2012CB821202）；国家自然科学基金青年科学基金资助项目（61403158）；国家自然科学基金资助项目（61520106008）；吉林省教育厅科学技术研究项目 （）
