重庆理工大学学报（自然科学版）2017，Vol.31Issue(7)：40-47,8.DOI:10.3969/j.issn.1674-8425(z).2017.07.006
应用无迹卡尔曼滤波算法的车辆侧倾稳定性控制
Vehicle Roll Stability Control Base on UKF
摘要
Abstract
Considering the tire is nonlinear,a dynamical model of vehicle including 9 degrees of freedom is built,and a dynamical simulation model is built in Matlab/Simulink.For the problem that the roll angle and roll angle rate is difficult to measured,an observer for the roll angle and roll rate is designed based on the lateral acceleration,vertical acceleration of four wheels,displacement of four wheels,deflection of fours suspensions and yaw rate,using Unscented Kalman Filter,based on the status parameters easily measured,and the result shows the roll angle and roll rate estimated are in accordance with the theoretical value.For the problem that the roll angle and roll rate are excessive while vehicle steering,an active roll controller is designed based on the sliding mode variable structure and the estimated roll angle and roll rate,and we simulated in the MATLAB/Simulink.The result shows the effective of the active roll controller.关键词
无迹卡尔曼滤波/侧倾角/侧倾角速度/滑模变结构控制Key words
Unscented Kalman Filter/roll angle/roll rate/sliding mode variable structure分类
交通工程引用本文复制引用
张永辉,姜高松,张耀虎,宋义彤..应用无迹卡尔曼滤波算法的车辆侧倾稳定性控制[J].重庆理工大学学报（自然科学版）,2017,31(7):40-47,8.基金项目
陕西省科技厅工业科技攻关项目(2015GY053) （2015GY053）
