The invention discloses a longitudinal and transverse speed cascade estimation method for a four-wheel independent drive electric vehicle. By utilizing self-adaptive complementary filtering and a non-linear coupling tire inverse model and cascading from longitudinal speed estimation to transverse speed observation, the self-adaptive complementary filter is composed of high-pass filters and low-pass filters with the same time-varying filtering parameters, and the time-varying filtering parameters are determined by the longitudinal and transverse slippage states of a tire. On one hand, the independently driven wheel motor can quickly and accurately obtain a motor torque signal, derive a vehicle related state through a nonlinear tire inverse model, and perform filtering; and on the other hand, the method also utilizes kinematics estimation to improve the robustness of the vehicle system to the model matching error. Through actual vehicle verification, by adopting the estimation algorithm,the estimated speed of the four-wheel independent drive electric vehicle can be accurately matched with the real speed of the four-wheel independent drive electric vehicle, and meanwhile, the vehicle-mounted controller is small in calculation load, high in real-time performance and low in application cost.
本发明公布了一种用于四轮独立驱动电动汽车纵横向速度级联估计方法,通过利用自适应互补滤波和非线性耦合轮胎逆模型,从先估计纵向速度到后观测横向速度的级联,本发明中的自适应互补滤波器是由具有相同时变滤波参数的高低通滤波器组成,其中时变滤波参数由轮胎纵横向滑移状态决定。一方面,独立驱动的车轮电机能够快速准确地获取电机转矩信号,并通过非线性轮胎逆模型导出车辆相关状态,进行滤波。另一方面,该方法也利用运动学估计来提高车辆系统对于模型匹配误差的鲁棒性。通过实际车辆验证,采用这种估计算法,四轮独立驱动电动汽车的估计速度能够准确地匹配其真实车速,同时车载控制器计算负载小,实时性高,应用成本低。
Longitudinal and transverse speed cascade estimation method for four-wheel independent drive electric vehicle
一种用于四轮独立驱动电动汽车纵横向速度级联估计方法
2020-06-05
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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