The invention relates to a distributed driving electric vehicle inertia parameter estimation method. Firstly, change of vehicle inertia parameters caused by uncertainty of load parameters is considered, a three-degree-of-freedom vehicle dynamics model is established, a nonlinear tire model of a magic formula is selected; a state and parameter estimation system of a double-adaptive unscented Kalmanfilter is designed, then specific steps of a double-adaptive unscented Kalman filtering observer are determined, and vehicle state estimation such as vehicle longitudinal speed and vehicle side slipangle, and vehicle inertia parameter estimation such as vehicle mass, yawing moment of inertia, distance from the center of mass to a front axle of the vehicle and the like are realized. The method isbased on the vehicle dynamics estimation model considering load parameter changes, by adopting the adaptive unscented Kalman filtering method, divergent influence of the vehicle state parameter filter can be effectively suppressed, the vehicle inertia parameters are corrected and predicted in real time by utilizing the estimated value of the vehicle state in the double-adaptive unscented Kalman filter, and the method has the advantages of high estimation precision and high reliability.

    本发明涉及一种分布式驱动电动汽车惯性参数估计方法,首先考虑载荷参数不确定导致车辆惯性参数的变化,建立三自由度整车动力学模型,并选择魔术公式的非线性轮胎模型,设计双自适应无迹卡尔曼滤波器的状态和参数估计系统,再确定双自适应无迹卡尔曼滤波观测器的具体步骤,从而实现对车辆车辆纵向速度、车辆质心侧偏角等车辆状态及整车质量、横摆转动惯量、质心到车辆前轴的距离等车辆惯性参数估计。本发明基于考虑载荷参数变化的车辆动力学估计模型,采用自适应无迹卡尔曼滤波方法可以有效抑制车辆状态参数滤波器的发散影响,并利用双自适应无迹卡尔曼滤波器中车辆状态的估计值来实时矫正预测车辆惯性参数,具有估计精度高,可靠性强的优点。


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    Title :

    Distributed driving electric vehicle inertia parameter estimation method


    Additional title:

    一种分布式驱动电动汽车惯性参数估计方法


    Contributors:
    JIN XIANJIAN (author) / YANG JUNPENG (author) / YAN ZEYUAN (author) / WANG JIADONG (author)

    Publication date :

    2020-08-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion




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