The invention discloses a centroid slip angle estimation method considering a dynamic load and a pavement adhesion coefficient, and relates to a vehicle centroid slip angle estimation method. The method comprises the following steps: determining a piecewise interval and a piecewise number of a lateral force linear piecewise model; establishing a PWA relational expression of the lateral force of the front and rear axle wheels and the wheel slip angle under the conditions of the adhesion coefficient being equal to 1 and the nominal load; establishing a PWA relational expression of the lateral force of the front and rear axle wheels and the wheel slip angle under the conditions of the adhesion coefficient being less than 1 and the nominal load; establishing a PWA relational expression of thelateral force of the front and rear axle wheels and the slip angle under the conditions of considering the dynamic load and setting the adhesion coefficient to be less than 1; establishing a switchinglateral kinetic model; and converting the switching lateral kinetic model into a switching T-S fuzzy model, estimating front and rear wheel slip angles, and calculating an estimated value of a mass center slip angle. A method for establishing a piecewise affine lateral kinetic model by adopting a piecewise linear modeling thought is provided, and the change of a tire vertical load and a road adhesion coefficient can be reflected in real time.

    一种考虑动载荷和路面附着系数的质心侧偏角估计方法,涉及一种车辆质心侧偏角估计方法。确定侧向力线性分段模型的分段区间和分段数;建立附着系数等于1和名义载荷下前后轴车轮侧向力与车轮侧偏角的PWA关系表达式;建立附着系数小于1和名义载荷下前后轴车轮侧向力与车轮侧偏角的PWA关系表达式;建立考虑动载荷,附着系数小于1情况下前后轴车轮侧向力与车轮侧偏角的PWA关系表达式;建立切换侧向动力学模型;将切换侧向动力学模型转换为切换T‑S模糊模型,估计前后车轮侧偏角,计算质心侧偏角的估计值。给出一种采用分段线性建模思路建立分段仿射侧向动力学模型的方法,能实时反映轮胎垂直载荷与路面附着系数的变化。


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    Title :

    Centroid slip angle estimation method considering dynamic load and pavement adhesion coefficient


    Additional title:

    一种考虑动载荷和路面附着系数的质心侧偏角估计方法


    Contributors:
    ZHANG QIAN (author) / ZHOU HONGLIANG (author) / LIU ZHIYUAN (author)

    Publication date :

    2020-11-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / 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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