A Method for Observing Side Slip Angle of Automobile Center of Mass Based on Fuzzy Dynamics System

Abstract

This application disclosed a car quality heart -side deflection method based on the fuzzy dynamic system, including: step 1, based on the collecting information collected, build a vehicle dynamic model, and introduce uncertain parameters to generate the quality of the heart and heart side.Corner observation equations, in which the value of the uncertain parameter is described by the first fuzzy set; step 2, calculate the transient performance function and steady -state performance function of the observation equation of the mass,The optimal number of references of the angle observation equation, of which the optimal adjustable parameters include the first adjustable parameter and the second adjustable parameter; step 3, according to the optimal adjustable parameter and the quality of the heart -side partial angle observation equation, calculate the vehicle drivingThe observation value of the texture side of the information corresponding to the information.Through the technical solutions in this application, the existing error of the existing dynamic model observation method on modeling is reduced, the accuracy of the calculation of the car quality of the car quality, and it will help improve the overall performance of the observer.

Description

technical field [0001] The present application relates to the technical field of vehicle safety, in particular, to a method for observing the side slip angle of the center of mass of a vehicle based on a fuzzy dynamic system. Background technique [0002] At present, a variety of active safety systems have been widely used in the field of vehicles, including body electronic stability systems, anti-lock braking systems, etc. The working process of these systems is inseparable from information such as vehicle parameters and vehicle status, and the side slip angle of the vehicle center of mass It is one of the important information. [0003] However, in the prior art, it is difficult to directly measure the sideslip angle of the vehicle center of mass, and the measurement cost is too high to realize industrial application. Therefore, measurable parameters are generally used to observe the sideslip angle of the vehicle center of mass. Commonly used methods and existing problems...

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Problems solved by technology

[0004] 1. The estimation method based on the vehicle kinematics model. This method obtains the side slip angle of the vehicle center of mass by measuring the lateral acceleration of the vehicle and integrating it. However, due to the existence of the integration link, this method is prone to large cumulative errors, which will affect the side of the vehicle mass center. Accuracy of declination observation results;

[0005] 2. The observation method based on the vehicle dynamics model, which measures the vehicle’s yaw rate to observe the side slip angle of the vehicle’s center of mass, but the observation result of the vehicle’s center of mass side slip angle is greatly affected by the model parameters, and its parameter fluctuation will directly Affect the accuracy of observation results

[0006] Therefore, the accuracy of the observation results of the side slip angle of the vehicle's center of mass cannot meet the needs of the vehicle's active safety system

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