利用七自由度车辆模型估计汽车状态参数

针对汽车主动悬架控制系统中难以测得的侧倾角速率俯仰角速率等状态参数,提出一种利用七自由度车辆模型,并采用滑模观测器估计汽车姿态的方法.提出的方法在未知道路状况的情况下可以降低模型不确定因素的影响.仿真计算与场地实验的结果验证了该方法的有效性,同时也为汽车控制系统的状态参数测量提供了一个可行的低成本策略.

Vehicle State Estimation using Automobile Dynamic Model with 7DOFs

To solve the problem that some state parameters, such as roll angle and pitch angle, in active suspension control process are too difficult to measure on-line, this paper presents a method of vehicle state estimation using a dynamic sliding mode observer with a 7 degree-of-freedom model of the vertical vehicle dynamics as an essential component. The observer relies on suspension sensors and stability system sensors. The effect of uncertainty is greatly reduced even with unknown road inputs. The design is verified through simulation and vehicle testing under variety of maneuvers and it provides a feasible, accuracy and low-cost way for measurement of vehicle state parameter.