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提出了一种基于非线性观测器的路面附着系数估计方法。针对转向工况下路面附着系数的实时估计问题,建立了车辆的非线性动力学模型,构造了全维观测器,以估算轮胎回正力矩。根据车辆的侧向动力学特性,将车载传感器测量值与车辆模型输出值之间的偏差作为非线性观测器的Luenberger类型反馈项,实现了对车载传感器的充分利用。通过李雅普诺夫(Lyapunov)稳定性分析,确定了非线性观测器反馈环节的增益,并在Matlab/Simulink仿真环境下对该方法进行了验证。仿真结果表明,该估计方法在不同路况下具有较高的准确性。
A method of estimating the adhesion coefficient of pavement based on nonlinear observer is proposed. Aiming at the problem of real-time estimation of the road surface adhesion coefficient under the condition of steering, a nonlinear dynamic model of the vehicle is established and an all-dimensional observer is constructed to estimate the moment of return of the tire. According to the lateral dynamic characteristics of the vehicle, the deviation between the measured value of the vehicle-mounted sensor and the output of the vehicle model is taken as the Luenberger-type feedback term of the nonlinear observer to realize the full utilization of the vehicle-mounted sensor. Through the Lyapunov stability analysis, the gain of the nonlinear observer feedback is determined, and the method is verified in Matlab / Simulink simulation. Simulation results show that the proposed method has higher accuracy under different road conditions.