CAJ | 학술논문

针对车辆主动安全控制系统中需要的车速等状态参数难以直接在线测量的问题,在分析车辆和轮胎主要动态特性的基础上,建立车辆的纵向、横向和横摆运动的三自由度非线性动力学模型,通过引入Luenberger类型的反馈环节,提出了一种纵向车速、横向车速和横摆角速度的滑模观测器设计方法,并依据Lyapunov稳定性理论给出了观测器收敛的充分条件.结合应用实例讨论了观测器增益的选取方法,并在不同路面上对所提估计方法进行了多种驾驶工况的实车验证.实验结果表明,所提方法具有较好的估计性能,且允许路面附着系数存在一定的误差.
침대차량주동안전공제계통중수요적차속등상태삼수난이직접재선측량적문제,재분석차량화륜태주요동태특성적기출상,건립차량적종향、횡향화횡파운동적삼자유도비선성동역학모형,통과인입Luenberger류형적반궤배절,제출료일충종향차속、횡향차속화횡파각속도적활모관측기설계방법,병의거Lyapunov은정성이론급출료관측기수렴적충분조건.결합응용실례토론료관측기증익적선취방법,병재불동로면상대소제고계방법진행료다충가사공황적실차험증.실험결과표명,소제방법구유교호적고계성능,차윤허로면부착계수존재일정적오차.
In order to meet the requirements of some state parameters in vehicle active safety control systems, a nonlinear vehicle dynamic model with three degrees of freedom of longitudinal, lateral and yaw motion was established, based on analysis of vehicle and tire dynamic behaviors. By introducing Luenberger-type feedback terms, a sliding mode observer for estimating the longitudinal velocity, lateral velocity and yaw rate was proposed. According to Lyapunov stability theory, a sufficient condition was derived to guarantee the convergence of the observer. Finally, a selection method of the observer gains was presented based on an example of application, and then the observer was evaluated experimentally under a variety of maneuvers and road conditions. The experimental results show that the proposed observer has good performance, and a limited number of errors in the tire-road friction coefficient are permitted.