| 引用本文: | 刘志远,周洪亮,陈虹.汽车横摆的动态模型[J].控制理论与应用,2011,28(8):1145~1150.[点击复制] |
| LIU Zhi-yuan,ZHOU Hong-liang,CHEN Hong.Model-building for vehicle yaw dynamics[J].Control Theory and Technology,2011,28(8):1145~1150.[点击复制] |
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| 汽车横摆的动态模型 |
| Model-building for vehicle yaw dynamics |
| 摘要点击 3227 全文点击 2449 投稿时间：2009-12-23 修订日期：2010-10-23 |
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| DOI编号 10.7641/j.issn.1000-8152.2011.8.CCTA091652 |
| 2011,28(8):1145-1150 |
| 中文关键词 汽车横摆动态 建模 车轮摩擦力 滑模观测器 |
| 英文关键词 vehicle yaw dynamics build model wheel adhesion force sliding mode estimator |
| 基金项目 国家杰出青年科学基金资助项目(60725311). |
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| 中文摘要 |
| 建立横摆动态模型是汽车横摆稳定控制的基础. 本文根据汽车横摆稳定控制的特点, 综合车身横摆动态, 车轮动态和轮胎的非线性特性, 建立了非线性离散横摆动态模型, 其中轮胎摩擦力为时变参数. 为了估计本模型中的时变参数, 本文进而设计了离散滑模估计器估计轮胎摩擦力. 最后, 在一个高精度的汽车动力学仿真环境中, 证实了本估计方法可有效地估计车轮摩擦力, 所建立模型较为准确地反映汽车横摆动态. |
| 英文摘要 |
| Building the yaw dynamics model is fundamental to vehicle yaw stability control. Considering the characteristics of the vehicle yaw stability control, we propose a nonlinear discrete yaw dynamics model for a vehicle by combining the vehicle yaw dynamics, wheel dynamics and the nonlinear characteristics of tires. In this model, wheel frictional forces are considered as time-varying variables; to estimate these time-varying variables, a discrete sliding mode observer is designed. Finally, in a high-accurate simulation environment for the vehicle dynamics, results validate the accuracy in the estimation of wheel frictional forces, and the efficacy of the proposed model for the vehicle yaw dynamics. |
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