【作者】 王志福； 邓文烨； 武伯钢； 白金； 孙立清；

【Author】 Wang Zhifu;Deng Wenye;Wu Bogang;Bai Jin;Sun Liqing;National Engineering Research Center for Electric Vehicles,Beijing Institute of Technology;

【机构】 北京理工大学电动车辆国家工程研究中心；

【摘要】 针对轮毂电机驱动多节自由铰接车辆的质心纵向位置会受到各车厢载荷分布和转移影响且无法直接获取的问题,提出了一种自由铰接车辆质心纵向位置估计算法。建立基于质心估计的整车纵向动力学模型,设计基于自适应扩展卡尔曼滤波的估计器,仅用车辆的纵向动力学特性实现质心纵向位置在线估计。在ADAMS软件环境中搭建整车模型,在Simulink软件环境中搭建算法模型,实现联合仿真并进行模型车验证。验证结果表明,设计的估计器能够以可接受的精度估计质心纵向位置。更多还原

【Abstract】 Aiming at the problem that the longitudinal position of the center of gravity(CG) of a multi-section freely articulated vehicle driven by an in-wheel motor is affected by the load distribution and transfer of each carriage and cannot be directly obtained,an estimation algorithm for the longitudinal position of the CG of a freely articulated vehicle is proposed.A vehicle longitudinal dynamics model based on CG estimation is established,an estimator based on adaptive extended Kalman filter is designed,and the longitudinal position of the CG is estimated online only by the longitudinal dynamics characteristics of the vehicle.The vehicle model is built in the ADAMS software environment,and the algorithm model is built in the Simulink software environment to realize co-simulation and verify the model vehicle.The validation results show that the designed estimator can estimate the longitudinal position of the CG with acceptable accuracy.更多还原