考虑路面不平输入的车辆侧倾状态估计及主动控制

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振动与冲击 ›› 2018, Vol. 37 ›› Issue (5) : 133-141.

论文

张亮修1，吴光强1,2

作者信息 +

Roll state estimation and active control of vehicles considering road uneven disturbances

ZHANG Liangxiu1, WU Guangqiang1,2

Author information +

文章历史 +

摘要

为了低成本且高精度地估计车辆侧倾状态，研究考虑路面不平输入的车辆侧倾状态估计及主动防侧倾控制方法。建立三自由度侧向动力学模型，利用Kalman滤波算法设计基于侧向动力学的车辆侧倾状态估计算法。为了估计由路面不平引起的侧倾状态，建立七自由度垂向动力学模型，利用可测的车身垂向加速度信号设计基于垂向动力学的车辆侧倾状态估计算法。在此基础上，利用滑模变结构控制方法来决策车辆所期望的附加防侧倾力矩，通过阻尼可调减振器的阻尼力实现车辆主动防侧倾控制。仿真结果表明，基于侧向动力学的侧倾状态估计算法只对转向输入引起的侧倾具有较好地估计效果，而基于垂向动力学的估计算法能够有效地估计由转向输入和路面不平输入引起的侧倾状态，并且利用阻尼可调减振器能够有效地实现车辆侧倾状态的主动控制。

Abstract

In order to estimate the roll state of vehicles inexpensively and effectively, the method for roll state estimation and active roll control of vehicles considering road uneven disturbances was investigated. A 3-DOF vehicle lateral dynamic model was established, and Kalman filtering was applied to design a roll state estimation algorithm based on the vehicle lateral dynamics. To estimate the roll state induced by road uneven inputs, A 7-DOF vehicle vertical dynamic model was established and one roll state estimation algorithm was designed using the vehicle body vertical acceleration signals measured. On this basis, the expected vehicle additional anti-roll moment was determined with the sliding mode variable structure control method, and the vehicle active anti-roll control was realized by adjusting damping forces of four adjustable damping absorbers. Simulation results showed that the roll state estimation algorithm based on lateral dynamics can only estimate roll states induced by steer input, while that based on vertical dynamics can effectively estimate roll states induced by both steer input and road uneven input; adjustable damping absorbers can be used to effectively realize active control of vehicle roll states.

导出引用

张亮修1，吴光强1,2. 考虑路面不平输入的车辆侧倾状态估计及主动控制[J]. 振动与冲击, 2018, 37(5): 133-141

ZHANG Liangxiu1, WU Guangqiang1,2. Roll state estimation and active control of vehicles considering road uneven disturbances[J]. Journal of Vibration and Shock, 2018, 37(5): 133-141

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