车辆电子稳定性控制系统质心侧偏角非线性状态估计的研究
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摘要
车辆电子稳定性控制系统能够显著提高汽车主动安全性。在车辆电子稳定性控制程序中,质心侧偏角是衡量车辆稳定性的重要指标,通过对质心侧偏角的控制实现对车辆稳定性的控制。目前质心侧偏角的测量只能通过非接触光学传感器测量,考虑到安装和价格的因素,不能够在实车中应用,因此需要根据车载传感器信号对质心侧偏角进行估计。
本文结合国家863计划项目“X121轿车集成开发先进技术”子课题“电子稳定系统(ESP)集成开发及电动转向系统(EPS)一体化控制技术”,通过对国内外质心侧偏角估计现状的研究,采用状态观测器的方法建立了质心侧偏角非线性状态估计模型。观测器的输入采用车辆电子稳定性控制系统中标配的传感器信号,包括车轮轮速、横摆角速度、纵/侧向加速度和方向盘转角。基于“X121轿车ESP试验评价方法与目标设定”和电子稳定性控制系统标准试验的要求,对观测器进行了仿真和实车试验。
通过对试验结果的分析,本文建立的质心侧偏角非线性状态观测器在标准试验工况下能够对实际测量的质心侧偏角进行很好的跟随,并且具备较高的精度。
As the development of electronic technology, electronic control device have been widely used in modern vehicle. As an active safety technology, Electronic Stability Program (ESP) can improve the vehicle handling stability completely by monitoring the vehicle’s state in real time and constraining the over-steering or under-steering actively. As an important assessment indicator of vehicle handling stability, the side-slip angle of a vehicle play a great role in the research procedure of ESP. But the cost for side-slip angle measurement systems is too high compared to existing on-board sensors, it is difficult for ESP system to measure the side-slip angle. So the research on estimation of side-slip angle is important in the development procedure of ESP.
This thesis is associated with the“Integrated Development of Electronic Stability Program (ESP) and Integrated Control Technology of Electronic Power Steering (EPS)”subject, supported by the project of National 863 Program“Integrated Development of Advanced Technology for X121 Passenger Car”. Based on the summary of the domestic and foreign research achievements of the side-slip angle estimation method, a nonlinear state observer have been applied for the estimation of side-slip angle. Aimed on the research on side-slip angle of ESP, the modeling of vehicle body dynamic and tire dynamic, the design and modeling of nonlinear state observer, the estimation of side-slip angle, the simulation under standard testing condition are carried out in detail. The main contents are as follows:
The first chapter systematically introduces the status of ESP and the role of the side-slip angle in the ESP system. This thesis also do some research and summarize the status of the estimation on side-slip angle. The widely-used estimating methods have been introduced, and their advantages and disadvantages have been compared. According to research above-mentioned, the academic background and the application background of topic selecting are elaborated. The first chapter also gives the primary coverage of this thesis.
The second chapter introduces the vehicle system dynamics. In this chapter an eight degree-of-freedom vehicle dynamics model and a tire model have been systematically introduced. The model coordinate and basic concept have been described, the model have been established. According to the relationship between model properties as well as the analysis of nonlinear and non-steady-state problems, the model has been refined. The results show that the vehicle model can describe the dynamical characteristics in linear and nonlinear area correctly and accurately. The vehicle model provides a reliable foundation for researching on stability control.
The third chapter introduces the basic concept and design method of nonlinear state observer. According to the particular problem that estimates the side-slip angle, an nonlinear state observer system have been designed and established to estimate the side-slip angle based on seven degree-of-freedom vehicle dynamic model. The modular method for the establishment of system model has been carried out. The vehicle body dynamic model, the Uni-Tire model and the nonlinear state observer model have been established independently, the interface is designed to implement the relationship between each model, the side-slip angle nonlinear state observer finally achieved based on the modular model.
Firstly, the basic concept and the procedure of the model establishment of the seven degree-of-freedom vehicle body dynamic model have been introduced. Also the roles of the seven degree-of-freedom during the analysis of the ESP, the definition of the inner model parameters and the description of the vehicle model state function have been introduced. The theory base has been supplied for the establishment of the side-slip angle nonlinear observer with the S-function.
Comprehensively considering the real-time requirement of the ESP and the accuracy requirement of tire model of the side-slip angle observer, the Uni-Tire model that describes the united condition of side-slip and longitudinal-slip has been applied as the inner tire model of the observer system. According to the analysis of the relationship between the inputs and outputs of the tire model, and considering the relationship between each modular model, this thesis establishes a tire model that is used in observer system.
The design and model establishment of the side-slip angle nonlinear state observer is the key point of this thesis. Based on the seven degree-of-freedom vehicle body model, a reduced-order observer has been established. The feedback mechanism has been designed independently according to the states including longitudinal velocity, lateral velocity and yaw velocity. Generally, the side-slip angle nonlinear state observer is established.
The forth chapter is the simulation of the side-slip angle nonlinear state observer system and the analysis of the consequences. The simulation condition is based on the regulation that is proposed in The Test Evaluation Methods and Goal Setting X121 Car ESP. According to the test and the analysis on the results, the side-slip angle nonlinear state observer can satisfied all the testing condition.
The fifth chapter conclude the whole content of this thesis. And it put forward the direction and the keystone for the future.
本文结合国家863计划项目“X121轿车集成开发先进技术”子课题“电子稳定系统(ESP)集成开发及电动转向系统(EPS)一体化控制技术”,通过对国内外质心侧偏角估计现状的研究,采用状态观测器的方法建立了质心侧偏角非线性状态估计模型。观测器的输入采用车辆电子稳定性控制系统中标配的传感器信号,包括车轮轮速、横摆角速度、纵/侧向加速度和方向盘转角。基于“X121轿车ESP试验评价方法与目标设定”和电子稳定性控制系统标准试验的要求,对观测器进行了仿真和实车试验。
通过对试验结果的分析,本文建立的质心侧偏角非线性状态观测器在标准试验工况下能够对实际测量的质心侧偏角进行很好的跟随,并且具备较高的精度。
As the development of electronic technology, electronic control device have been widely used in modern vehicle. As an active safety technology, Electronic Stability Program (ESP) can improve the vehicle handling stability completely by monitoring the vehicle’s state in real time and constraining the over-steering or under-steering actively. As an important assessment indicator of vehicle handling stability, the side-slip angle of a vehicle play a great role in the research procedure of ESP. But the cost for side-slip angle measurement systems is too high compared to existing on-board sensors, it is difficult for ESP system to measure the side-slip angle. So the research on estimation of side-slip angle is important in the development procedure of ESP.
This thesis is associated with the“Integrated Development of Electronic Stability Program (ESP) and Integrated Control Technology of Electronic Power Steering (EPS)”subject, supported by the project of National 863 Program“Integrated Development of Advanced Technology for X121 Passenger Car”. Based on the summary of the domestic and foreign research achievements of the side-slip angle estimation method, a nonlinear state observer have been applied for the estimation of side-slip angle. Aimed on the research on side-slip angle of ESP, the modeling of vehicle body dynamic and tire dynamic, the design and modeling of nonlinear state observer, the estimation of side-slip angle, the simulation under standard testing condition are carried out in detail. The main contents are as follows:
The first chapter systematically introduces the status of ESP and the role of the side-slip angle in the ESP system. This thesis also do some research and summarize the status of the estimation on side-slip angle. The widely-used estimating methods have been introduced, and their advantages and disadvantages have been compared. According to research above-mentioned, the academic background and the application background of topic selecting are elaborated. The first chapter also gives the primary coverage of this thesis.
The second chapter introduces the vehicle system dynamics. In this chapter an eight degree-of-freedom vehicle dynamics model and a tire model have been systematically introduced. The model coordinate and basic concept have been described, the model have been established. According to the relationship between model properties as well as the analysis of nonlinear and non-steady-state problems, the model has been refined. The results show that the vehicle model can describe the dynamical characteristics in linear and nonlinear area correctly and accurately. The vehicle model provides a reliable foundation for researching on stability control.
The third chapter introduces the basic concept and design method of nonlinear state observer. According to the particular problem that estimates the side-slip angle, an nonlinear state observer system have been designed and established to estimate the side-slip angle based on seven degree-of-freedom vehicle dynamic model. The modular method for the establishment of system model has been carried out. The vehicle body dynamic model, the Uni-Tire model and the nonlinear state observer model have been established independently, the interface is designed to implement the relationship between each model, the side-slip angle nonlinear state observer finally achieved based on the modular model.
Firstly, the basic concept and the procedure of the model establishment of the seven degree-of-freedom vehicle body dynamic model have been introduced. Also the roles of the seven degree-of-freedom during the analysis of the ESP, the definition of the inner model parameters and the description of the vehicle model state function have been introduced. The theory base has been supplied for the establishment of the side-slip angle nonlinear observer with the S-function.
Comprehensively considering the real-time requirement of the ESP and the accuracy requirement of tire model of the side-slip angle observer, the Uni-Tire model that describes the united condition of side-slip and longitudinal-slip has been applied as the inner tire model of the observer system. According to the analysis of the relationship between the inputs and outputs of the tire model, and considering the relationship between each modular model, this thesis establishes a tire model that is used in observer system.
The design and model establishment of the side-slip angle nonlinear state observer is the key point of this thesis. Based on the seven degree-of-freedom vehicle body model, a reduced-order observer has been established. The feedback mechanism has been designed independently according to the states including longitudinal velocity, lateral velocity and yaw velocity. Generally, the side-slip angle nonlinear state observer is established.
The forth chapter is the simulation of the side-slip angle nonlinear state observer system and the analysis of the consequences. The simulation condition is based on the regulation that is proposed in The Test Evaluation Methods and Goal Setting X121 Car ESP. According to the test and the analysis on the results, the side-slip angle nonlinear state observer can satisfied all the testing condition.
The fifth chapter conclude the whole content of this thesis. And it put forward the direction and the keystone for the future.
引文
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[2]赵琢.我国高等级公路交通事故预测及对策研究[J].汽车运输研究, 1997, 16(2):71~77
[3]吴龙.近期我国道路交通事故分析[J].汽车运输研究, 1997, 16(2):82~86
[4] Glaser.H. Electronic Stability Program ESP, Audi Press Presentation[R]. Lycksele, Sweden, 9.-13. December, 1996
[5] Michael A.Kremer, Ford-Werke AG, K?ln. The Electronic Stability Program (ESP) On The Ford Focus[C]. Vehicle Electronic Systems 2000 European Conference and Exhibition, StratFord Manor, StratFord-upon-Avon, UK, 2000
[6] Sugiyama M., Inoue H., Uchida K., Monzaki S., Inagaki S, and Kido S. Development of VSC (Vehicle Stability Control) System[R]. TOYOTA Technical Review Vol.46, No.2, 61~68, 1997.
[7]郭建华.双轴汽车电子稳定性协调控制系统研究[D].长春:吉林大学汽车工程学院, 2008
[8] Sanjay Singh. Design of Front Wheel Active Steering for Improver Vehicle Handling and Stability[C]. SAE Technical Paper, 2000-01-1619.
[9] Wolfgan Reinelt. Active Front Steering (Part 2): safety and functionality[C]. SAE Technical Paper, 2004-01-1101.
[10] Willy Klier. Active Front Steering (Part 1): mathematical modeling and parameter estimation[C]. SAE Technical Paper, 2004-01-1102.
[11] Philip Koehn. Active Steering– the BMW Approach towards modern steering technology[C]. SAE Technical Paper, 2004-01-1105.
[12] Tokihiko Akita, Katsuhiko Satoh, Michael C.Gaunt. Development of 4WS Control Algorithm for a SUV[C]. SAE Technical Paper, 2002-01-1216.
[13] Edward J. Bedner, Jr. and Hsien H. Chen. A Supervisory Control to Manage Brakes and Four-Wheel-Steer Systems[C]. SAE Technical Paper, 2004-01-1059.
[14] Ichiro Kageyama, Heeyoung JO. An Advanced Vehicle Control method using Independent Four-Wheel-Steering System[C]. Proceeding of the Advanced Vehicle Control(AVEC)1996.
[15] Yoshimi Furukawa, Masato ABE. On-Board-Tire-Model Reference Control for Cooperation of 4WS and Direct Yaw Moment Control for Improving Active Safety of Vehicle Handling[C]. Proceeding of the Advanced Vehicle Control(AVEC)1996.
[16] Masaki Yamamoto. Active Control Strategy for Improved Handling and Stability[C]. SAE Technical Paper, 911902
[17] Nicholas Cooper, David Crolla, Martin Levesley, Warren Manning. Integration of Active Suspension and Active Driveline to Improve Vehicle Dynamics[C]. SAE Technical Paper, 2004-01-3544.
[18] Abe M. Roll Moment Distribution Control in Active Suspension for Improvement of Limit Performance of Vehicle Handling[C]. Proceeding of the Advanced Vehicle Control(AVEC)1992.
[19] Cooke R., Crolla D., Abe M. Combined Ride and Handling Modeling of a Vehicle with Active Suspension[C]. Proceeding of the Advanced Vehicle Control(AVEC)1996.
[20]Anton T.Van Zanten. Evolution of Electronic Control Systems for Improving the Vehicle Dynamic Behavior[C]. Proceeding of the Advanced Vehicle Control(AVEC)2002.
[21] Shibahata, Shimada, Tomari. The improvement of vehicle maueuverability by direct yaw momentcontrol[C]. Proceeding of the Advanced Vehicle Control(AVEC)1992.
[22] Ken Koibuchi, Masaki Yamamoto, Yoshiki Fukada, Shoji Inagaki. Vehicle stability control in limit cornering by active brake[C]. SAE Technical Paper, 960487.
[23] Wolf-Direter Jonner and Armin Czinczel,“Upgrade Levels of the Bosch ABS”, SAE paper No.860508
[24] Masaki Yamamoto,“Active Control Strategy for Improved Handling and Stability”, SAE paper No.911902
[25] Shoji Inagaki, Ikuo Kshiro, Masaki Yamamoto,“Analysis on Vehicle Stability in Critical Cornering Using Phase-Plane Method”, International Symposium on Advanced Vehicle Control– AVEC’94 No.9438411
[26] Y. Shibahata, K. Shimada and T. Tomari,“Improvement of Vehicle Maneuverability by Direct Yaw Moment Control”, Vehicle System Dynamics, 22 (1993), pp.465~481
[27] Gunther Buschmann, Hans-Thomas Ebner, and Wieland Kuhn,“Electronic Brake Force Distribution Control– A Sophisticated Addition to ABS”, SAE paper No.920646
[28] Shinji Matsumoto, Hirotsugu Yamaguchi, Hideaki Inoue and Yoshiki Yasuno,“Improvement of Vehicle Dynamics Through Braking Force Distribution Control”, SAE paper No.920645
[29] S. Motoyama, H. UKI, K. Isoda and H. Yuasa,“Effect of Traction Force Distribution Control on Vehicle Dynamics”, Vehicle System Dynamics, 22 (1993)
[30] Yoshiyuki Yasui, Kenji Tozu, Noriaki Hattori, and Masakazu Sugisawa,“Improvement of Vehicle Directional Stability for Transient Steering Maneuvers Using Active Brake Control”, SAE paper No.960485
[31] Ken Koibuchi, Masaki Yamamoto, Yoshiki Fukada, and Shoji Inagaki,“Vehicle Stability Control in Limit Cornering by Active Brake”, SAE paper No.960487
[32] V. Alberti, E. Babbel,“Improved Driving Stability by Active Braking of the Individual Wheels”, International Symposium on Advanced Vehicle Control– AVEC’96
[33] J. Lenasi, G. Danon, S. Zezelj,“Lateral Stability of A Braking Vehicle On The Friction Limit”, Vehicle System Dynamics Supplement 28 (1998), pp.711~716
[34] Young Eun Ko and Jang Moo Lee,“Estimation of the stability region of a vehicle in plane motion using a topological approach”, Int. J. of Vehicle Design, Vol.30, No.3, 2002
[35] Anton T. Van Zanten, Rainer Erhardt, Georg Pfaff, Friedrich Kost, Uwe Hartmann, Thomas Ehret,“Control Aspects of the Bosch-VDC”, International Symposium on Advanced Vehicle Control– AVEC’96
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