The invention provides a driving wheel longitudinal force estimation method based on a sliding-mode observer. The method comprises the following steps of S1, deducing a sliding-mode observer structure of a bounded disturbance quantity of a first-order system with system input, the bounded disturbance quantity and a system disturbance term; s2, deriving a driving wheel longitudinal force sliding-mode observer structure based on the unmanned mine car quarter vehicle dynamics model and a sliding-mode observer structure of bounded disturbance quantity; and S3, carrying out parameter self-adaption on feedback gain in the driving wheel longitudinal force observer by utilizing TS fuzzy logic. According to the method, the longitudinal force of the driving wheel is estimated based on the sliding-mode observer, calculation of the driving torque and the rolling resistance coefficient of the driving wheel is omitted, the TS fuzzy logic is applied to the traditional sliding-mode observer, self-adaptive adjustment is conducted on the feedback gain in the observer, and the observer can be rapidly and stably converged to a real value.

    本发明提出了一种基于滑模观测器的驱动轮纵向力估计方法,包括以下步骤:步骤S1、推导有系统输入、带有界扰动量和系统干扰项的一阶系统的有界扰动量的滑模观测器结构;步骤S2、基于无人驾驶矿车四分之一车辆动力学模型和有界扰动量的滑模观测器结构,推导驱动轮纵向力滑模观测器结构;步骤S3、利用TS模糊逻辑对驱动轮纵向力观测器中反馈增益进行参数自适应。本发明基于滑模观测器对驱动轮的纵向力进行估计,省去了对驱动轮驱动力矩及滚动阻力系数的计算,并将TS模糊逻辑应用于传统滑模观测器,对观测器中的反馈增益进行自适应调整,有利于观测器快速、稳定收敛于真实值。


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    Title :

    Driving wheel longitudinal force estimation method based on sliding mode observer


    Additional title:

    基于滑模观测器的驱动轮纵向力估计方法


    Contributors:
    WU GUANGQIANG (author) / CONG GUOQING (author) / GUI YUHUI (author) / HU YUNLONG (author) / ZHONG JIANGLEI (author) / JIANG SHUHUAI (author) / ZONG JIANZHUANG (author) / MAO LIBO (author)

    Publication date :

    2025-02-25


    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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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