摘要
采用3自由度非线性汽车动力学模型作为汽车状态和时变参数估计的标称模型,利用强跟踪中心差分卡尔曼滤波器(CDKF)对汽车的纵向速度、质心侧偏角和横摆角速度等信息,以及标称模型的前、后轴等效时变侧偏刚度进行了估计。为验证强跟踪CDKF算法的估计性能,采用模型在环和硬件在环的方式进行多种工况的仿真验证。结果表明,该算法具有可行性和准确性。
A 3-DOF nonlinear dynamic model of vehicle is established as nominal model of vehicle state and parameter estimation.Strong tracking Central Difference Kalman Filter(CDKF)is adopted to simultaneously estimate the longitudinal velocity,side slip angle and yaw rate of the vehicle and the equivalent lateral stiffness of the axle.In order to verify the performance of the strong tracking CDFK algorithm,typical cases using model-in-the-loop simulation systems are carried out.Simulation results show that the algorithm is effective and can get high accuracy.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2017年第5期1329-1335,共7页
Journal of Jilin University:Engineering and Technology Edition
基金
国家自然科学基金项目(51275206)
关键词
车辆工程
汽车动力学
时变模型参数
强跟踪中心差分卡尔曼滤波器
状态和参数估计
vehicle engineering
vehicle dynamics
time-varying model parameters
strong tracking central difference Kalman filter
states and parameters estimation
