The invention belongs to the technical field of electric vehicles, and particularly relates to a fusion technology-based side slip angle observation method for a four-wheel drive electric vehicle. A steady-state expression of the side slip angle is derived based on a two-degree-of-freedom kinetic model; the tire cornering stiffness is estimated by adopting a recursive least square process; a UniTire tire model is introduced to form a closed-loop estimation loop; and meanwhile, steady-state model parameters are dynamically adjusted, and a side slip angle observation structure which is simple instructure and has good inhibition performance on sensor noise is constructed. A kinematics observation process is introduced, dynamic features are extracted, fusion rules are formulated, and the estimation bandwidth of a steady-state observation structure is improved, so the corrected estimation method has better high-frequency transient estimation capacity. And finally, simulation is performed under high-adhesion and low-adhesion pavements through a trapezoidal test, an angular step test and a sine test, and analyzing an estimation result by applying a statistical principle to confirm the effectiveness of the design method.

    本发明属于电动汽车技术领域,具体说的是一种四轮驱动电动汽车基于融合技术的质心侧偏角观测方法。本发明基于二自由度动力学模型推导出质心侧偏角的稳态表达式;采用递推最小二乘法估计轮胎侧偏刚度;引入UniTire轮胎模型,形成闭环估计回路,同时动态调节稳态模型参数,构建了一种结构简单、对传感器噪声具有良好抑制性的质心侧偏角观测结构。引进运动学观测方法,通过动态特征提取,制定融合规则,改进稳态观测结构的估计带宽,修正后的估计方法具有更好的高频瞬态估计能力。最后通过梯形试验、角阶跃试验和正弦试验在高附着和低附着路面下进行仿真,运用统计学原理对估计结果进行分析,证实了本设计方法的有效性。


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    Title :

    Fusion technology-based side slip angle observation method for four-wheel drive electric vehicle


    Additional title:

    四轮驱动电动汽车基于融合技术的质心侧偏角观测方法


    Contributors:
    ZHAO BIN (author) / LAO HONGPENG (author) / MA HAITAO (author) / LI HEWEI (author) / LI XIANG (author) / YU FENGPING (author) / GAO YUHANG (author)

    Publication date :

    2020-09-22


    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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