汽车工程 ›› 2023, Vol. 45 ›› Issue (6): 1040-1049.doi: 10.19562/j.chinasae.qcgc.2023.06.014
所属专题: 底盘&动力学&整车性能专题2023年
收稿日期:
2022-10-25
修回日期:
2022-12-22
出版日期:
2023-06-25
发布日期:
2023-06-16
通讯作者:
张志飞
E-mail:z.zhang@cqu.edu.cn
基金资助:
Jianhua Chen,Zhongming Xu,Zhifei Zhang()
Received:
2022-10-25
Revised:
2022-12-22
Online:
2023-06-25
Published:
2023-06-16
Contact:
Zhifei Zhang
E-mail:z.zhang@cqu.edu.cn
摘要:
为实现车辆在非匀速行驶时的悬架相对速度和簧上绝对速度估计,同时减小车载传感器的数量,构造了不考虑车轮动力学、以车轮垂直速度为输入的车辆悬架系统简化模型,设计了一种基于速度自适应轴距预瞄的结合卡尔曼滤波算法估计整车悬架相对速度和簧上绝对速度的方法。仿真结果表明,在车辆非匀速行驶通过低频正弦路面、减速带、凹坑以及典型随机路面时,所提出的方法可以准确估计车辆的悬架相对速度和簧上绝对速度,且速度自适应轴距预瞄的引入减少了传感器的使用数量。
陈建华,徐中明,张志飞. 基于轴距预瞄的非匀速工况车辆悬架状态估计[J]. 汽车工程, 2023, 45(6): 1040-1049.
Jianhua Chen,Zhongming Xu,Zhifei Zhang. Suspension State Estimation Based on Wheelbase Preview at Variable Speed[J]. Automotive Engineering, 2023, 45(6): 1040-1049.
表1
车辆物理参数"
参数 | 物理意义 | 数值 |
---|---|---|
mc /kg | 簧载质量 | 1 399.6 |
簧载质量俯仰转动惯量 | 985.7 | |
簧载质量侧倾转动惯量 | 320.9 | |
前悬架刚度 | 33 999 | |
后悬架刚度 | 25 261 | |
前悬架阻尼 | 1 057.4 | |
后悬架阻尼 | 700.3 | |
质心到左轮距离 | 0.744 | |
质心到右轮距离 | 0.776 | |
质心到前轴距离 | 1.297 | |
质心到后轴距离 | 1.263 | |
IMU安装点到左轮距离 | 1.27 | |
IMU安装点到右轮距离 | 0.25 | |
IMU安装点到前轴距离 | 2.12 | |
IMU安装点到后轴距离 | 0.44 | |
质心高度 | 0.432 |
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