|本期目录/Table of Contents|

[1]赵林辉,刘志远,陈虹,等.一种车辆状态滑模观测器的设计方法[J].电机与控制学报,2009,(04):565-570.
 ZHAO Lin-hui,LIU Zhi-yuan,CHEN Hong.Design method of sliding model observer for vehicle state[J].,2009,(04):565-570.
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
期数:
2009年04
页码:
565-570
栏目:
出版日期:
2009-07-15

文章信息/Info

Title:
Design method of sliding model observer for vehicle state
作者:
赵林辉; 刘志远; 陈虹;
哈尔滨工业大学控制科学与工程系; 吉林大学控制科学与工程系;
Author(s):
ZHAO Lin-hui1; LIU Zhi-yuan1; CHEN Hong2
1.Department of Control Science and Engineering; Harbin Institute of Technology; Harbin 150001; China; 2.Department of Control Science and Engineering; Jilin University; Changchun 130025; China
关键词:
车辆状态 滑模观测器 路面附着系数 车辆动力学
Keywords:
vehicle state sliding mode observer tire-road friction coefficient vehicle dynamics
分类号:
-
DOI:
-
文献标志码:
A
摘要:
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。
Abstract:
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 guaran...

参考文献/References:

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备注/Memo

备注/Memo:
国家杰出青年科学基金(60725311);; 黑龙江省重点科技攻关计划
更新日期/Last Update: 2010-05-25