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基于擴(kuò)張狀態(tài)觀測(cè)器的路面附著系數(shù)實(shí)時(shí)估計(jì)
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-time Estimation of Tire Road Friction Coefficient Based on Extend State Observer
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    摘要:

    對(duì)車輛動(dòng)力學(xué)控制中的道路路面附著系數(shù)實(shí)時(shí)估計(jì)問(wèn)題進(jìn)行研究。首先使用魔術(shù)公式建立1/4車輛制動(dòng)模型，即車輪制動(dòng)動(dòng)力學(xué)模型；然后將其中的附著系數(shù)相關(guān)項(xiàng)視為制動(dòng)系統(tǒng)的擴(kuò)張狀態(tài)，建立其擴(kuò)張狀態(tài)觀測(cè)器，通過(guò)輪速信號(hào)和制動(dòng)力矩信號(hào)實(shí)時(shí)觀測(cè)制動(dòng)過(guò)程中地面與輪胎間的縱向力，進(jìn)而計(jì)算出路面附著系數(shù)；最后在均勻路面和突變路面條件下進(jìn)行仿真研究。結(jié)果表明，所提出的方法對(duì)車輛制動(dòng)系統(tǒng)參數(shù)攝動(dòng)和傳感器噪聲具有魯棒性，可以準(zhǔn)確地實(shí)現(xiàn)道路路面附著系數(shù)的實(shí)時(shí)估計(jì),觀測(cè)器與控制器設(shè)計(jì)具有一定獨(dú)立性。

    Abstract:

    The road adhesion coefficient real-time estimation for vehicle dynamic control was investigated. Firstly, dynamic model of tire for braking was given based on magic formulation. Secondly, the related item to adhesion coefficient of the dynamic model was considered as one extended state of braking system, so extended state observer (ESO) was designed to estimate friction force between roads and tire in real-time based on the velocity of wheel and torque for braking. Adhesion coefficient was deduced. Finally, simulations were performed on uniformity road and varied road. The simulation results showed this method was robust to parameters perturbation of braking system and sensor noise, it could estimate adhesion coefficient exactly in real-time. Observer was separated from controller design. 

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楊福廣,李貽斌,阮久宏,榮學(xué)文,宋銳.基于擴(kuò)張狀態(tài)觀測(cè)器的路面附著系數(shù)實(shí)時(shí)估計(jì)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2010,41(8):6-9.-time Estimation of Tire Road Friction Coefficient Based on Extend State Observer[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(8):6-9.

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