电动轮汽车车速与道路坡度估计

针对电动轮汽车车速与道路坡度估计问题,本文中基于纵向非线性动力学方程设计1阶扩张状态观测器对车速与坡度进行联合估计,分析了估计稳态误差;同时,采用带遗忘因子的递归最小二乘估计算法分离加速度传感器信号中的坡度信息,并设置了比例系数来融合两类坡度信息,最终得到道路坡度估计值。搭建MATLAB/Simulink-Carsim联合仿真平台进行变坡度路面仿真,并在实际坡道路面完成实车测试。仿真与试验结果表明,所提出的方法简单、可行。

Estimation of In-wheel Motor Driven Electric Vehicle Speed and Road Gradient

Aiming at the estimation of vehicle speed and road gradient,a first-order extended state observer based on longitudinal non-linear dynamic equation is designed to jointly estimate the vehicle speed and road gradient with the steady-state error of estimation analyzed.Meanwhile,the recursive least squares estimation algorithm with forgetting factor is used to separate the gradient information from acceleration sensor signals,and the proportional coefficients are set to fuse two-types of gradient information and finally obtain the estimation value of road gradient.The MATLAB/Simulink-Carsim co-simulation platform is built to conduct a simulation on variable gradient road,and a real vehicle test is also carried out on a slope.The results of simulation and real vehicle test show that the proposed method is simple and feasible.