中国机械工程

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[电动汽车稳定性控制]指数和线性参数化的轮胎-路面纵向附着条件实时估计方法

熊喆1;过学迅1;裴晓飞1;张杰2   

  1. 1.武汉理工大学现代汽车零部件技术湖北省重点实验室,武汉,430070
    2.万向集团技术中心,杭州,311200
  • 出版日期:2018-08-10 发布日期:2018-08-06
  • 基金资助:
    国家自然科学基金资助项目(51505354)

Real-time Tire-road Longitudinal Adhesion Estimation Based on Exponential Sum Linear Parameterization

XIONG Zhe1;GUO Xuexun1;PEI Xiaofei1;ZHANG Jie2   

  1. 1.Hubei Key Laboratory of Advanced Technology of Automotive Components,Wuhan University of Technology,Wuhan,430070
    2.Wanxiang Group Technical Center,Hangzhou,311200
  • Online:2018-08-10 Published:2018-08-06

摘要:

利用动力学建模和遗忘因子递推最小二乘算法,对电动汽车纵向制动工况中轮胎-路面附着特性的峰值点估计方法进行研究。以匹配电子液压制动系统的前驱电动汽车为建模对象,提出了一种最大化能量回收的制动分配策略;针对再生制动轮优先趋于抱死这一现象,设计了一种附着条件实时估计算法,以降低利用附着系数进入非线性区域的风险。利用指数和线性模型对非线性Burckhardt摩擦模型进行拟合,并进行了在线辨识的仿真和硬件在环试验,结果表明该算法满足实时性要求,且相较于Kiencke线性化方法,具有更佳的估计精度和收敛速度。

关键词: 附着条件估计, 指数和, 最优滑移率, 线性参数化

Abstract: The wheel dynamics modeling and FFRLS (forgetting factor recursive least-square) were utilized to develop a method of tire-road adhesion estimations in longitudinal braking conditions. The modeling object was an FWD (front wheel drive) EV(electric vehicle) equipped with an EHB(electro-hydraulic brake). Firstly, a maximized regenerative brake distribution strategy was introduced. The regenerative brake wheels would tend to be locked before other wheels in heavy brake conditions. Secondly, a real-time adhesion estimation method was designed to lowering the risks of wheel locks. The linear parameterization of ES(exponential sum) was introduced to fit non-linear Burckhardt friction model, the on-line simulations and HiL(hardware-in-loop) tests were conducted. Results show that the proposed linear method may run in real-time, and has better estimation accuracy and convergence rate compared with linear Kiencke method.

Key words: adhesion estimation, exponential sum(ES), optimal slip ratio, linear parameterization

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