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基于虚拟传感器的轮胎力和车辆状态变量估算

Keywords: 虚拟传感器,非线性观测器,滑模观测器,硬件在环,ve-DYNA

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Abstract:

构建滑模观测器(sliding-modeobserver,SMO)估算轮胎力,结合单轨车辆模型推算质心侧偏角和质心速度.设计双曲正切函数替代符号函数以克服滑模固有的颤振现象并证明了观测器的收敛性.利用动力学软件ve-DYNA和硬件在环试验平台对多种工况下虚拟传感器的估算效果进行验证,结果表明,在不同的附着系数路面和操作工况下,该虚拟传感器均具有较高的精度和鲁棒性.

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