Estimation method for side slip angle and tire lateral force of four-wheel independent drive electric automobile
Estimation method for side slip angle and tire lateral force of four-wheel independent drive electric automobile
- New search for: YIN GUODONG
- New search for: WANG FANXUN
- New search for: REN YANJUN
- New search for: SHEN TONG
- New search for: YANG JIN-HO
- New search for: LU YANBO
- New search for: WANG WANG
- New search for: FENG BIN
- New search for: XU LIWEI
- New search for: YIN GUODONG
- New search for: WANG FANXUN
- New search for: REN YANJUN
- New search for: SHEN TONG
- New search for: YANG JIN-HO
- New search for: LU YANBO
- New search for: WANG WANG
- New search for: FENG BIN
- New search for: XU LIWEI
The invention discloses a four-wheel independent drive electric vehicle side slip angle and tire lateral force estimation method which comprises the following steps: calculating tire longitudinal force according to a wheel kinetic equation; according to a longitudinal dynamic balance equation of the vehicle, estimating the mass of the whole vehicle based on a least square method with a forgetting factor; the robust volume Kalman estimation module is used for establishing a four-wheel drive electric vehicle dynamic model comprising three degrees of freedom of vehicle longitudinal, lateral and yawing and a semi-experience magic tire model for reflecting instantaneous mechanical characteristics of tires; and estimating the side slip angle and the tire lateral force based on the established robust volume Kalman filtering module. The method effectively improves the perturbation of filtering to model parameters and the anti-interference capability of unmodeled noise under the complex working condition, improves the accuracy, robustness and anti-interference performance of a joint estimation algorithm under different working conditions, and solves the problem of joint estimation of the side slip angle and the tire lateral force of the four-wheel-drive electric vehicle under the composite working condition.
本发明公开了一种四轮独立驱动电动汽车质心侧偏角与轮胎侧向力估计方法，包含以下步骤：根据车轮动力学方程，计算轮胎纵向力；根据车辆的纵向动力学平衡方程，基于带有遗忘因子的最小二乘法估计整车质量；建立包括车辆纵向、侧向和横摆三个自由度的四轮驱动电动汽车动力学模型和反映轮胎瞬时力学特性的半经验魔术轮胎模型的鲁棒容积卡尔曼估计模块；基于所建立的鲁棒容积卡尔曼滤波模块，估计质心侧偏角与轮胎侧向力。本发明有效提高了复杂工况下滤波对模型参数摄动以及未建模噪声的抗干扰能力，不同工况下联合估计算法的准确性、鲁棒性和抗干扰性得到提高，解决了复合工况下四驱电动汽车质心侧偏角和轮胎侧向力联合估计问题。
Document information
Estimation method for side slip angle and tire lateral force of four-wheel independent drive electric automobile
四轮独立驱动电动汽车质心侧偏角与轮胎侧向力估计方法
2022-03-01
Patent
Electronic Resource
Chinese
| IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Similar titles
Fusion technology-based side slip angle observation method for four-wheel drive electric vehicle
| European Patent Office | 2020
Automobile independent four-wheel drive oil-electric hybrid power system
| European Patent Office | 2023
Nonlinear tire lateral force versus slip angle curve identification
| Tema Archive | 2004
Modular scheme for four‐wheel‐drive electric vehicle tire‐road force and velocity estimation
| Wiley | 2019