【摘要】 根据商用车ESC系统各传感器的信息,利用半挂汽车3自由度模型设计了状态观测器来估计半挂汽车的折叠角。根据侧向加速度值对当前利用路面附着系数进行了估算,用来修正线性轮胎模型。利用三轴半挂汽车的21自由度非线性模型对观测器的估计结果进行了验证。结果表明,该观测器在车辆的线性和非线性区域内都能准确地估算出半挂汽车的折叠角。更多还原

【Abstract】 A state observer is designed to estimate the articulation angle,by using a 3 DOF semi-trailer model and the information provided by sensors of electronic stability control (ESC) system.Road adhesion coefficient is estimated with lateral acceleration to correct the linear tire model.The observer is validated on the 21 DOF nonlinear model of a 3axle semi-trailer.The simulation results show that the estimated articulation angle is accurate in both linear area and nonlinear area of vehicle.更多还原