汽车质心侧偏角观测算法仿真与误差灵敏度分析

车辆质心侧偏角是汽车电子稳定性控制中最重要的状态变量之一，其估计误差直接影响动力学控制效果.为此，针对四轮驱动汽车稳定性控制系统的需要对积分法、简单动力学估计算法、广义龙贝格算法和广义卡尔曼滤波算法4种典型质心侧偏角估计算法进行仿真建模.基于2种典型工况引入变量、参数和噪声误差，分析了不同估计算法对变量、参数和噪声误差的敏感度.研究结果表明，不同估计算法对变量、参数和噪声误差的敏感度有着很大差异，在稳定性控制系统中应综合使用基于运动学和基于动力学这两种估计算法.论文的研究成果对四轮驱动电动汽车主动安全控制技术的实际应用具有工程指导意义.

Simulation and Errors Analysis of Vehicle Sideslip Angle Algorithm

Vehicle sideslip angel is the most important parameter in vehicle electronic stability control. Its estimation errors directly influence the dynamics control. Aimed at the requirement of the vehicle stability control system of the four-wheel drive electric vehicle, four sideslip angle estimator algorithms, including integration algorithm, simple dynamics estimator algorithm, generalized Romberg algorithm and generalized Kalman filter algorithm, were simulated in this paper. Sensor signal errors and noises were analyzed based on the sensitivity of different algorithms to vehicle parameter errors in two typical test maneuvers. The result shows that the error sensitivity of different algorithms is quite different. In vehicle electronic stability control, integrated use should be made of the algorithms based on both kinematics and dynamics. This paper is of great importance to the practical application of active safety control technology for four-wheel drive electric vehicles.