基于EKF轮胎侧向力估计的AFS和EPS集成控制

PDF(1970 KB)

振动与冲击 ›› 2015, Vol. 34 ›› Issue (11) : 93-98.

论文

周兵，徐蒙，范璐

作者信息 +

Integrated Control of Active Front Steering and Electric Power Steering with EKF Estimation Of Lateral Force

ZHOU Bing, XU Meng, FAN Lu

Author information +

文章历史 +

摘要

对融合了主动前轮转向的电动助力转向系统，主动转向引入的附加转角使得轮胎侧向力发生突变，从而导致转向盘力矩会发生突变。虽然轮胎力不易直接测量，但是扩展卡尔曼滤波算法可以实现对非线性轮胎力的估计，为解决转向盘力矩突变找到实现方法。本文建立了非线性车辆数学模型，并构建基于扩展卡尔曼滤波算法的轮胎侧向力观测器，根据得到的轮胎侧向力的估计值对转向盘力矩突变进行补偿，实现了车辆状态估计与车辆控制的结合。在MATLAB/Simulink里的仿真分析验证了控制策略的有效性。

Abstract

In the integrated system of Electric Power Steering and Active Front Steering, the additional front road wheel angle generated by AFS gives rise to the change of tire lateral force, which results in the change of steering wheel torque finally. Although the tire force is hard to be measured directly, we can estimate it using Extended Kalman Filter (EKF) algorithm. This method can resolve the problem of steering wheel torque change. The vehicle nonlinear mathematical model is presented and a nonlinear tire lateral force estimator is also established basing on EKF. We can use the estimated tire lateral force to compensate the abrupt change of steering wheel torque, which realizes the combination of vehicle states estimation and vehicle control. The simulation results in MATLAB/Simulink show the effectiveness of proposed control strategy.

导出引用

周兵，徐蒙，范璐. 基于EKF轮胎侧向力估计的AFS和EPS集成控制[J]. 振动与冲击, 2015, 34(11): 93-98

ZHOU Bing, XU Meng, FAN Lu. Integrated Control of Active Front Steering and Electric Power Steering with EKF Estimation Of Lateral Force[J]. Journal of Vibration and Shock, 2015, 34(11): 93-98

参考文献

[1] 魏建伟，魏民祥.基于主动转向干预的EPS系统转向盘力矩突变修正策略[J].南京航空航天大学学报，2011，43(4)：572-576.
   WEI Jian-wei, WEI Min-xiang. Correction Strategy of Steering Wheel Torque for EPS System Based on Intervention of Active Steering [J]. Journal of Nanjing University of Aeronautics & Astronautics, 2011, 40(8):572-576.
[2] Minaki R, Hoshino H, Hori Y. Ergonomic Verifica-
tion of Reactive Torque Control Based on Driver’s Sensitivity Characteristics for Active Front Steering [C]//Proceedings of Vehicle Power and Propulsion Conference. Dearborn, MI,USA, 2009: 160-164.
[3] Minaki R, Hori Y. Experimental Verification of Driver—friendly Reactive Torque Control Based on Driver Sensitivity to Active Front Steering[C] //35th Annual Conference of the IEEE Industrial Electronics.Porto,Portugal,2009:3077-3082.
[4] 魏建伟，魏民祥，李玉芳.主动转向干预时EPS助力修正控制策略与评价[J].中国机械工程，2012，23(15)：1873-1876.
   WEI Jian-wei, WEI Min-xiang, LI Yu-fang. Evaluation and Correction Control Strategy of Assistant Torque for EPS with Interference of Active Steering [J]. China Mechanical Engineering, 2012, 23(15): 1873-1876.
[5] 余志生.汽车理论[M].北京：机械工业出版社，2008.
[6] Bakker E, Nyborg L, Pacejka H B. Tyre Modelling for Use in Vehicle Dynamics Studies[C].SAE Paper 870421,1987.
[7] Manfred Mitschke, Henning Wallentowitz. Dyna- mik der Kraftfahrzeuge[M].北京：清华大学出版社，2009.
[8] Badawy A, Zuraski J, Bolourchi F, et al. Modeling and Analysis of an Electric Power Steering System[C]. SAE Paper 1999-01-0399, 1999.
[9] 赵林峰，陈无畏，秦炜华，等.低附着路面条件的EPS控制策略[J].机械工程学报，2011,47(2)：109-114.
   ZHAO Lin-feng, CHEN Wu-wei, QIN Wei-hua, , et al. Electric Power Steering on Low Friction Coefficient Road [J]. Journal of Mechanical Engineering, 2011, 47(2): 109-114.
[10] 郭洪艳，陈虹，柳致海. 基于EKF的汽车轮胎力估计研究[J].仪器仪表学报，2009,30(6)：250-254.
    GUO Hong-yan, CHEN Hong, LIU Zhi-hai. The Research of Vehicle Tire-road Force Estimation Based on EKF [J]. Chinese Journal of Scientific Instrument, 2009, 30(6): 250-254.
[11] 郭孔辉，付皓，丁海涛.基于扩展卡尔曼滤波的汽车质心侧偏角估计[J].汽车技术，2009,4：1-3.
    GUO Kong-hui, FU Hao, DING Hai-tao. Estimation of CG Sideslip Angle Based on Extended Kalman Filter [J]. Automobile Technology, 2009, 4: 1-3.
[12] Matthew A. Wilkin, David C. Crolla , Martin C. Levesley and Warren J. Manning. Estimation of Non-Linear Tyre Forces for a Performance Vehicle using an Extended Kalman Filter[C]. SAE Paper 2004-01-3529, 2004.
[13] Matthew A.Wilkin, David C. Crolla, Martin C. Levesley and Warren J. Manning. Design of a Robust Tyre Force Estimator Using an Extended Kalman Filter[C]. SAE Paper 2005-01-0402, 2005.
[14] Laura R. Ray. Nonlinear tire force estimation and road friction identification: Simulation and experiments [J]. Automatica,1997,33(10):1819- 1833.
[15] Mohinder S. Grewal , Angus P. Andrews.Kalman Filtering Theory and Practice Using MATLAB [M]. America: John Wiley &Sons,2008