论文部分内容阅读
在路面不平度的随机激励下,针对汽车相对于路面而非水平面的侧倾状态难以直接测量的问题,基于双线性观测器实现对该侧倾状态的在线估计。利用半主动悬架汽车直接测量其簧载与非簧载质量左、右两侧垂向加速度,分析半主动悬架系统的双线性特性,借鉴Luenberger线性观测器的思想设计双线性观测器,并通过对汽车左、右轮胎变形量的在线观测,进而估计出汽车相对于路面的侧倾状态。最后,利用TruckSim与MATLAB/Simulink开展了联合仿真试验。结果表明:在路面高程一度超过0.1m的情况下,汽车侧倾中心线相对于路面的侧倾角估计值与其真实值之间的相对误差始终保持在10%以内。
Under the random excitations of pavement roughness, aiming at the problem that it is difficult to measure the roll state of the vehicle relative to the road surface rather than the horizontal plane, an on-line estimation of the roll state is implemented based on a bilinear observer. The semi-active suspension vehicle is used to directly measure the vertical acceleration of the sprung and unsprung mass left and right sides. The bilinear characteristic of the semi-active suspension system is analyzed. Based on the Luenberger linear observer, the bilinear observer , And through the on-vehicle observation of left and right tire deformation, and then estimated the car relative to the road roll state. Finally, a joint simulation experiment was conducted with TruckSim and MATLAB / Simulink. The results show that the relative error between the estimated value of the roll centerline and the actual value of the rolling centerline remains within 10% when the road surface elevation exceeds 0.1m for a time.