Estimation of Three-Dimensional Center of Gravity Relocation for Ground Vehicles with Tire Blowout
Estimation of Three-Dimensional Center of Gravity Relocation for Ground Vehicles with Tire Blowout
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DOI：
10.23919/acc53348.2022.9867659
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发表时间：
2022-06
期刊：
影响因子：
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通讯作者：
Ao Li;Yan Chen;Wen-Chiao Lin;Xinyu Du
中科院分区：
文献类型：
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作者：
Ao Li;Yan Chen;Wen-Chiao Lin;Xinyu Du
受轮胎有效半径变化、悬架重新布置以及轮胎爆胎引起的俯仰/侧倾扰动的影响，车辆重心（CG）会显着向爆胎位置移动。本文提出了一种利用爆胎事件中垂直力变化和几何关系来估计爆胎地面车辆重心重定位的方法。基于本文新的递归最小二乘（RLS）公式，可以同时估计三维（3D）CG重定位（即高度、纵向和横向位置）。 Matlab/Simulink 和 CarSim® 针对不同轮胎爆胎位置的联合仿真结果验证了所提出的估计方法可以有效、准确地捕获轮胎爆胎后车辆 3D CG 重定位。
Influenced by tire effective radius change, suspension rearrangement, and pitch/roll disturbance due to tire blowout, the vehicle center of gravity (CG) can significantly relocate toward the blown-out tire position. This paper proposes an estimation method of the CG relocation for ground vehicles with tire blowout by utilizing vertical force variations and geometric relationships in tire blowout events. Based on a new recursive least square (RLS) formulation in this paper, the three-dimensional (3D) CG relocation (i.e., the height, the longitudinal and lateral positions) can be estimated simultaneously. Matlab/Simulink and CarSim® co-simulation results for different tire blowout locations validate that the proposed estimation method can effectively and accurately capture the vehicle 3D CG relocation after tire blowout.