摘要
利用卡尔曼滤波估计二自由度整车的行驶状态,仿真结果表明估计值和真实值吻合良好;在电动助力转向系统(EPS)基本助力电流基础上引入横摆角速度和质心侧偏角电流补偿,并且进行仿真分析,结果表明补偿后驾驶员路感得到改善,侧滑趋势得到抑制,汽车行驶稳定性得到提高。
The running states on two degrees of freedom of vehicle were estimated using Kalman filter. The simulation results show the estimated value and true value tally well. In addition to base assist current, yaw rate current compensation and slide angle current compensation were conducted. The simulation results show road feel is improved, slide trend is restrained and the running stability of vehicle is enhanced.
出处
《拖拉机与农用运输车》
2010年第1期32-34,共3页
Tractor & Farm Transporter
基金
北京市科学技术委员会项目(D0305002040111)
关键词
卡尔曼滤波
电动助力转向
补偿
Kalman filter
Electric power steering
Compensation
