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采用RKF轮胎力估计的4WID电动汽车纵向速度估计研究

叶浩 刘国海 张多 王洋

叶浩, 刘国海, 张多, 王洋. 采用RKF轮胎力估计的4WID电动汽车纵向速度估计研究[J]. 机械科学与技术, 2017, 36(4): 637-642. doi: 10.13433/j.cnki.1003-8728.2017.0424
引用本文: 叶浩, 刘国海, 张多, 王洋. 采用RKF轮胎力估计的4WID电动汽车纵向速度估计研究[J]. 机械科学与技术, 2017, 36(4): 637-642. doi: 10.13433/j.cnki.1003-8728.2017.0424
Ye Hao, Liu Guohai, Zhang Duo, Wang Yang. Estimating Longitudinal Velocity of Four-wheel-independent-driving Electric Vehicle based on RKF Tire Force Estimator[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(4): 637-642. doi: 10.13433/j.cnki.1003-8728.2017.0424
Citation: Ye Hao, Liu Guohai, Zhang Duo, Wang Yang. Estimating Longitudinal Velocity of Four-wheel-independent-driving Electric Vehicle based on RKF Tire Force Estimator[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(4): 637-642. doi: 10.13433/j.cnki.1003-8728.2017.0424

采用RKF轮胎力估计的4WID电动汽车纵向速度估计研究

doi: 10.13433/j.cnki.1003-8728.2017.0424
基金项目: 

国家自然科学基金项目(61273154)与教育部博士点基金项目(20123227110012)资助

详细信息
    作者简介:

    叶浩(1990-),硕士研究生,研究方向为电动车辆状态观测及动力学控制,yehao7107@126.com

    通讯作者:

    刘国海(联系人),教授,博士生导师,ghliu@ujs.edu.cn

Estimating Longitudinal Velocity of Four-wheel-independent-driving Electric Vehicle based on RKF Tire Force Estimator

  • 摘要: 车辆纵向速度、轮胎力的准确获取是车辆主动安全控制的前提和基础,由于直接测量纵向速度和轮胎力的车载传感器价格极其昂贵,提出了采用随机卡尔曼(RKF)轮胎力估计的纵向车速估计。利用普通车载传感器直接测量的车辆状态参数结合车辆七自由度模型,采用RKF算法估计轮胎侧向力;其次,根据估计的轮胎力,运用卡尔曼滤波(KF)技术实现纵向车速估计。CarSim与MATLAB/Simulink联合仿真结果验证了该方法的有效性。
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出版历程
  • 收稿日期:  2015-09-22
  • 刊出日期:  2017-04-05

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