Two-layer structure based adaptive estimation for vehicle mass and road slope under longitudinal motion
Two-layer structure based adaptive estimation for vehicle mass and road slope under longitudinal motion
复制标题
DOI：
10.1016/j.measurement.2016.10.045
复制
发表时间：
2017-01-01
期刊：
影响因子：
5.6
通讯作者：
Li, Weihua
中科院分区：
文献类型：
--
作者：
Li, Boyuan;Zhang, Jiawei;Li, Weihua
车辆质量和路面坡度的实时信息对于车辆操纵稳定性控制非常重要。本文提出了一种基于两层结构的自适应参数估计器，用于估计纵向运动条件下的车辆质量和路面坡度。在估计器的第一层中，缓慢变化的车辆参数，如车辆质量或道路坡度的平滑道路上，估计的计算效率的自适应法律。然后在第二层估计器中，应用在线自适应观测器来获得不平坦路面上的路面坡度的实时信息。首先通过数值模拟验证了所提出的估计器。最后，设计了一台遥控小车进行了实验测试。利用缩比车辆的实测数据，验证了所提出的参数估计器能够在真实的实验条件下估计车辆质量和路面坡度。为了清楚地呈现估计性能和比较估计结果，计算估计误差的均方根（RMS）值和归一化均方根（NRMS）值。实验结果表明，所得到的车辆质量估计误差和道路坡度估计误差的平均均方根值分别为0.44和4.06。由于爬坡时产生的振动较大，路面坡度估计误差较大。(C)2016爱思唯尔有限公司版权所有
Real-time information about vehicle mass and road slope is important for vehicle handling and stability control. This paper proposes a two-layer based adaptive parameter estimator to estimate the vehicle mass and road slope under longitudinal moving condition. In the first layer of the estimator, the slowly changed vehicle parameter, such as vehicle mass or road slope on the smooth road, is estimated by a computationally efficient adaptive law. Then in the second layer of the estimator, an online adaptive observer is applied to obtain the real-time information of the road slope on the uneven road. The proposed estimator is first verified by the numerical simulations. A scaled remote control car is then built to conduct the experimental tests. By using the measured data from the scaled vehicle, the proposed parameter estimator is validated to be able to estimate the vehicle mass and road slope in the real experimental conditions. In order to clearly present the estimation performance and compare estimation results, the root mean square (RMS) values and the normalised root mean square (NRMS) values of the estimation errors are calculated. The experimental results indicate that the obtained average RMS values of vehicle mass estimation error and road slope estimation error are 0.44 and 4.06, respectively. Road slope estimation shows bigger estimation error due to the severer vibration caused by climbing up the steep road. (C) 2016 Elsevier Ltd. All rights reserved.