基于轴距预瞄的非匀速工况车辆悬架状态估计

doi:10.19562/j.chinasae.qcgc.2023.06.014

Abstract

Abstract:

In order to realize the estimation of relative suspension speed and absolute speed of sprung mass at varying vehicle speed， and reduce the number of on-board sensors at the same time， a simplified model of vehicle suspension system with vertical wheel velocity as input is constructed without considering wheel dynamics. A method based on speed-adaptive wheelbase preview and Kalman filter algorithm is designed to estimate the relative speed of suspension and absolute speed of sprung mass of the vehicle. The simulation results show that the proposed method can accurately estimate the relative suspension speed and sprung absolute speed of vehicles traveling at variable speed through low-frequency sinusoidal road， speed bumps， pits and typical random road， and the application of speed adaptive wheelbase preview reduces the number of sensors used.

Key words: suspension, Kalman filtering, wheelbase preview, state estimation

Jianhua Chen,Zhongming Xu,Zhifei Zhang. Suspension State Estimation Based on Wheelbase Preview at Variable Speed[J].Automotive Engineering, 2023, 45(6): 1040-1049.

Figures/Tables 22

参数	物理意义	数值
m_c /kg	簧载质量	1 399.6
$J y$ /（kg?m²）	簧载质量俯仰转动惯量	985.7
$J x$ /（kg?m²）	簧载质量侧倾转动惯量	320.9
$k 1,2$ /（N?m^-1）	前悬架刚度	33 999
$k 3,4$ /（N?m^-1）	后悬架刚度	25 261
$c 1,2$ /（N?s?m^-1）	前悬架阻尼	1 057.4
$c 3,4$ /（N?s?m^-1）	后悬架阻尼	700.3
$l l$ /m	质心到左轮距离	0.744
$l t$ /m	质心到右轮距离	0.776
$a$ /m	质心到前轴距离	1.297
$b$ /m	质心到后轴距离	1.263
$n l$ /m	IMU安装点到左轮距离	1.27
$n w$ /m	IMU安装点到右轮距离	0.25
$n f$ /m	IMU安装点到前轴距离	2.12
$n r$ /m	IMU安装点到后轴距离	0.44
$h$ /m	质心高度	0.432

状态量	Q	状态量	Q
$z ˙ m$	2.7 × 10^-5	$? z 2$	1.1 × 10^-6
$θ ˙$	9.0 × 10^-6	$? z 3$	9.8 × 10^-7
$φ ˙$	3.4 × 10^-4	$? z 4$	9.0 × 10^-7
$? z 1$	1.0 × 10^-6

观测量	误差幅值	R
$z ¨ c$	0.005 m?s^-2	2.5 × 10^-5
$θ ˙$	0.003 rad?s^-1	9.0 × 10^-6
$φ ˙$	0.003 rad?s^-1	9.0 × 10^-6

工况	1	2	3
$z ˙ 1$	0.79	0.70	0.70
$z ˙ 2$	2.90	2.70	2.67
$z ˙ 3$	1.21	1.33	1.24
$z ˙ 4$	0.95	1.11	1.09
$? z ˙ 1$	0.15	0.04	0.13
$? z ˙ 2$	0.04	0.03	0.03
$? z ˙ 3$	1.21	1.32	0.05
$? z ˙ 4$	0.94	1.13	1.12

工况	4	5	6
$z ˙ 1$	1.69	1.38	1.28
$z ˙ 2$	2.35	0.72	1.76
$z ˙ 3$	1.78	2.40	1.12
$z ˙ 4$	0.98	3.26	1.32
$? z ˙ 1$	1.15	1.36	0.59
$? z ˙ 2$	2.45	1.15	0.60
$? z ˙ 3$	1.74	2.33	1.11
$? z ˙ 4$	0.97	3.89	1.39

$k x$	$k y$
$k x$	-15%	-10%	-5%	0	10%	15%
-15%	3.55%	3.35%	1.44%	0.93%	1.28%	1.35%
-10%	3.35%	1.02%	1.58%	1.24%	3.39%	2.45%
-5%	2.14%	0.69%	4.58%	2.06%	3.40%	2.86%
0	3.13%	2.90%	1.46%	2.24%	1.29%	1.27%
10%	3.76%	2.02%	1.31%	1.72%	1.66%	1.72%
15%	2.91%	2.35%	2.41%	2.57%	3.27%	1.63%

$k x$	$k y$
$k x$	-15%	-10%	-5%	0	10%	15%
-15%	2.19%	2.26%	1.08%	0.80%	0.88%	0.65%
-10%	2.68%	1.81%	1.64%	1.26%	1.30%	3.21%
-5%	1.80%	2.09%	3.14%	1.57%	2.47%	1.40%
0	1.10%	3.22%	4.03%	1.44%	3.19%	1.47%
10%	3.49%	1.38%	3.02%	3.17%	4.73%	2.87%
15%	1.49%	2.16%	1.59%	3.29%	1.24%	2.62%

References 20

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工况	路面类型	路面频率n/ 障碍宽度	幅值	运行速度/加速度
1	正弦	0.02 m^-1	0.04 m
2	正弦	0.02 m^-1	0.07 m
3	正弦	0.02 m^-1	0.10 m
4	减速带	0.4 m	0.05 m	-1 m?s^-2
5	减速带	0.4 m	0.05 m	-2 m?s^-2
6	减速带	0.4 m	0.05 m	-3 m?s^-2
7	三角凹坑（左侧）	0.4 m	0.04 m	-1 m?s^-2
8	B级随机路面

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Suspension State Estimation Based on Wheelbase Preview at Variable Speed

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