A methodology for vehicle sideslip angle identification: Comparison with experimental data
A methodology for vehicle sideslip angle identification: Comparison with experimental data
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DOI：
10.1080/00423110601059112
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发表时间：
2007-01-01
影响因子：
3.6
通讯作者：
Melzi, Stefano
中科院分区：
文献类型：
--
作者：
Cheli, Federico;Sabbioni, Edoardo;Melzi, Stefano
侧滑角可以提供有关车辆稳定性的重要信息。不幸的是，侧滑角的直接测量需要复杂且昂贵的实验装置，其不适合在普通客车汽车上实施;因此，必须从车辆横向/纵向加速度、速度、横摆率和转向角的测量开始估计该量。根据所提出的方法，侧滑角估计作为由运动学公式提供的结果和通过基于车辆单轨模型的状态观测器获得的结果的加权平均值。对于瞬态机动，运动学公式是可靠的，而状态观测器用于准状态情况。工作的基本思想是利用瞬态机动过程中运动学公式提供的信息来更新单轨模型参数（轮胎侧偏刚度）。一个模糊逻辑程序实现，以确定稳态或瞬态条件。
Sideslip angle could provide important information concerning vehicle's stability. Unfortunately direct measurement of sideslip angle requires a complex and expensive experimental set- up, which is not suitable for implementation on ordinary passenger cars; thus, this quantity has to be estimated starting from the measurements of vehicle lateral/ longitudinal acceleration, speed, yaw rate and steer angle. According to the proposed methodology, sideslip angle is estimated as a weighted mean of the results provided by a kinematic formulation and those obtained through a state observer based on vehicle single- track model. Kinematical formula is considered reliable for a transient manoeuvre, while the state observer is used in nearly quasi- state condition. The basic idea of the work is to make use of the information provided by the kinematic formulation during a transient manoeuvre to update the single- track model parameters ( tires cornering stiffnesses). A fuzzy- logic procedure was implemented to identify steady state or transient conditions.