摘要
汽车轮胎的侧偏刚度与汽车的操纵特性紧密联系,实时准确地估计轮胎侧偏刚度对提高车辆操控稳定性具有重要意义。针对侧偏刚度难以直接测量的难题,提出了一种基于轮胎侧向力和侧偏角估计的侧偏刚度实时辨识方法。首先,考虑前轮纵向力对侧向力的影响,基于横摆动力学模型及滑模观测算法设计了轮胎侧向力估计器,基于侧向力估计误差设计侧偏角反馈估计器;其次,建立了可描述轮胎侧向力、侧偏角、侧偏刚度三者关系的非线性轮胎力模型,以实时估计的侧向力、侧偏角为输入,设计限定记忆的递推最小二乘侧偏刚度在线辨识算法,解决算法因“数据饱和”存在估计误差的问题,提高辨识精度。最后,进行了Simulink与CarSim的联合仿真实验,实验结果表明:轮胎侧向力的估计误差平均约为4.153 9%,轮胎侧偏角的估计误差平均为3.285 2%;基于递推最小二乘法的侧偏刚度辨识模型对道路条件变化具有鲁棒性,在高、低附着条件下均具有较好的跟踪精度和稳定性,轮胎侧偏刚度估计精度平均约为98.379 3%。
The cornering stiffness of automobile tires is closely linked to the vehicle's handling characteristics,and accurately estimating the tire cornering stiffness in real time is of significant importance for enhancing the stability of vehicle handling.Addressing the challenge of direct measurement of cornering stiffness,a real-time identification method based on the estimation of tire lateral force and slip angle was proposed.Firstly,considering the influence of longitudinal force on lateral force,a tire lateral force estimator was designed based on the yaw dynamics model and sliding mode observer algorithm,followed by the design of a slip angle feedback estimator based on the estimation error of lateral force.Secondly,a nonlinear tire force model that describes the relationship among tire lateral force,slip angle,and cornering stiffness was established.Taking the real-time estimated lateral force and slip angle as inputs,a recursive least squares online identification algorithm with limited memory was designed to address the issue of estimation error due to“data saturation”and improve identification accuracy.Finally,joint simulation experiments using Simulink and CarSim were conducted.The experimental results indicate that the estimation error of tire lateral force is approximately 4.1539%on average,while the estimation error of tire slip angle is 3.2852%on average.The identification model based on the recursive least squares method is robust to changes in road conditions,demonstrating good tracking accuracy and stability under both high and low adhesion conditions,with an average estimation accuracy of tire cornering stiffness of approximately 98.3793%.
作者
房玉莹
王鹏伟
崔凯晨
高松
张榕
FANG Yu-ying;WANG Peng-wei;CUI Kai-chen;GAO Song;ZHANG Rong(School of Transport and Vehicle Engineering,Shandong University of Technology,Zibo 255000,China)
出处
《科学技术与工程》
北大核心
2025年第18期7812-7822,共11页
Science Technology and Engineering
基金
国家自然科学基金面上项目(52475269)
国家自然科学基金(52102465)
山东省自然科学基金面上项目(ZR2024ME179)
山东省自然科学基金(ZR2022MF230)
山东省自然科学基金青年基金(ZR2021QF039)
山东重大科技创新工程项目(2023CXGC010111)
山东省中小企业创新能力提升工程项目(2022TSGC2277)。
关键词
侧向力
侧偏角
非线性特性
递推最小二乘法
侧偏刚度辨识
lateral force
slip angle
nonlinear characteristics
recursive least squares method
identification of cornering stiffness
