基于补偿自适应控制算法的车辆状态参数估计

为实现用于车辆动力学稳定性控制的状态参数准确估计,基于自适应控制理论,针对三自由度车辆动力学模型,提出一种补偿更新律自适应控制估计方法,该方法能够实现对纵向车速、车辆质量及转动惯量的估计。通过原地起步直线加速工况和双移线工况的仿真和硬件在环仿真试验,表明该方法能够实现对运动状态的快速跟踪及参数的准确估计,满足车辆在线估计需求。

Estimation of Vehicle Status Parameters Based on Compensation Adaptive Control Algorithm

Accurate estimation of vehicle status parameters is important to vehicle stability control. Combination of 3-DOF vehicle dynamics model and adaptive control algorithm, proposed a method that modifies adaptive law through compensation was proposed to estimate vehicle parameters correctly. Bases on the method, the vehicle dynamics model was simplified to reduce the calculation burden and improve the real time performance. The starting and acceleration driving conditon and double lane change conditon were designed for the simulation and the hardware-in-loop test. Finally, both the simulation results and hardware-in-loop test results indicate that the proposed method could estimate the vehicle mass and moment of inertia more precisely and faster compared to the adaptive algorithm without compensation and satisfy the requirement of vehicle online estimation.