振动与冲击
振動與遲擊
진동여충격
JOURNAL OF VIBRATION AND SHOCK
2014年
13期
111-116
,共6页
卢凡%陈思忠%刘畅%李满红%赵玉壮
盧凡%陳思忠%劉暢%李滿紅%趙玉壯
로범%진사충%류창%리만홍%조옥장
Kalman滤波%振动速度%估计%悬架
Kalman濾波%振動速度%估計%懸架
Kalman려파%진동속도%고계%현가
Kalman filter%vibration velocity%estimation%suspension
基于车辆悬架系统模型设计了Kalman滤波器,由测量的车身和车轮加速度信号估计振动速度。分析了过程噪声协方差不准确对速度估计效果的影响,然后讨论了基于预测滤波器的自适应Kalman滤波器。仿真结果表明:Kalman滤波器能够实时准确估计车辆振动速度;预设过程噪声协方差值不准确对车身速度估计影响较大,甚至可能使滤波器失效;自适应Kalman器能够修正过程噪声协方差不准确引起的估计误差,获得准确的车辆振动速度。
基于車輛懸架繫統模型設計瞭Kalman濾波器,由測量的車身和車輪加速度信號估計振動速度。分析瞭過程譟聲協方差不準確對速度估計效果的影響,然後討論瞭基于預測濾波器的自適應Kalman濾波器。倣真結果錶明:Kalman濾波器能夠實時準確估計車輛振動速度;預設過程譟聲協方差值不準確對車身速度估計影響較大,甚至可能使濾波器失效;自適應Kalman器能夠脩正過程譟聲協方差不準確引起的估計誤差,穫得準確的車輛振動速度。
기우차량현가계통모형설계료Kalman려파기,유측량적차신화차륜가속도신호고계진동속도。분석료과정조성협방차불준학대속도고계효과적영향,연후토론료기우예측려파기적자괄응Kalman려파기。방진결과표명:Kalman려파기능구실시준학고계차량진동속도;예설과정조성협방차치불준학대차신속도고계영향교대,심지가능사려파기실효;자괄응Kalman기능구수정과정조성협방차불준학인기적고계오차,획득준학적차량진동속도。
Based on the vehicle suspension system model,a Kalman filter was designed to estimate the vibration velocity by measuring the sprung mass accelerations and unsprung mass accelerations.The influence of the covariance matrix of process noise on vibration velocity estimation was analyzed.Then an adaptive Kalman filter based on predictive filter was discussed.The simulation results show that the designed Kalman filter can accurately estimate the vehicle vibration velocity in real time.The inaccuracy of process noise covariance matrix has larger influence on body velocity estimation,or even makes the filter fail.The adaptive Kalman filter can compensate the estimation error caused by the unknown process noise covariance and obtain accurate vehicle vibration velocity.