非公路车辆簧载质量实时估计

针对非公路车辆簧载质量估计问题，提出了一种采用油气弹簧气压测量与车体在线姿态测量相结合进行实时簧载质量估计的方法.建立了基于单筒式油气弹簧的整车7自由度振动模型，利用带遗忘因子的递推最小二乘估计方法对簧载质量进行估计，并以D级道路作为仿真激励进行了仿真实验.研究了递推最小二乘估计中遗忘因子、滤波器参数及车速等因素对质量估计性能的影响，结果表明所提出的质量估计方法具有良好的准确性和实时性. 

Real-Time Sprung Mass Estimation for Off-Road Vehicles

In order to estimate the sprung mass for the off-road vehicle in real time, an estimation method was proposed based on measuring the air pressure of the hydro-pneumatic air chamber and vehicle attitude. Based on the established seven-degree of freedom nonlinear full vehicle model with single tube hydro-pneumatic spring, the simulation was carried out by using the recursive least square estimation method with forgetting factor on the D-level road excitation. The influence of vehicle speed, filtering parameter and recursive least squares forgetting factor on the estimation performance was investigated. And the simulation results show that, the proposed method can provide the estimation with high accuracy and short response time.