琢 ^ f ;
JO URNA L OF JIA N G SU UNIVERSITY(Natural Science Edition)
学报
( 自然科学版）
2014年 5 月
May 2014
第3 5卷 第 3 期
Vol. 35 No
doi： 10.3969/j.issn. 1671 -7775.2014.03.003
主动转向干预时质心侧偏角的估计策略
魏建伟1 ,赵万忠2 , 尚伟燕1
(1.宁波工程学院机械工程学院，浙江宁波315016; 2.南京航空航天大学能源与动力学院，江苏南京210016)
摘 要 ：针对现有的基于转向盘转角信号的质心侧偏角估计策略不再适用于主动转向干预工况的问
题 ，结合主动转向所装配的转向小齿轮转角传感器和齿轮齿条式转向器的结构特点，提出了将质心
侧偏角看作是转向小齿轮转角和车辆质心侧向加速度非线性映射的估计策略.为验证所提出的估
计策略的有效性，利 用 CarSim仿真平台进行了双移线和蛇行试验，将得到的虚拟试验数据作为样
本进行基于自适应模糊神经推理系统估计算法的训练和验证，并采用有无主动转向干预2 种工况
对 2 种估计策略进行对比分析，再与传统的基于转向盘转角信号的质心侧偏角估计方法进行对比
分析.结果表明所提出的估计策略在主动转向干预时仍可以正确地估计质心侧偏角.
关键词：质心侧偏角；主动转向；估计策略；CarSim; 自适应模糊神经推理系统
中图分类号：U461. 1 文献标志码：A 文章编号：1671 -7775(2014 )03 -0262 -05
引文格式：魏建伟,赵万忠，尚伟燕.主动转向干预时质心侧偏角的估计策略[J].江苏大学学报：自然科学版,2014,35⑶ ：262 - 266.
Estimation strategies for side slip angle with interference of
active steering
Wci Jianwei1 , Zhao Wanzhong1, Shang Weiyan1
(1. School of Mechanical Engineering, Ningbo University of Technology, Ningbo, Zhejiang 315016 , China ； 2. College of Energy and Power
Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu 210016, China)
Abstract ： To solve the problem that existing estimation strategy of side slip angle based on steering wheel
angle signal was not suitable for the interference of active steering, according to the structural characteris
tics of pinion angle sensor and rack-pinion steering gear equipped in active steering, an estimation strate
gy was proposed with the consideration of side slip angle as a nonlinear mapping of time series of pinion
angle and lateral acceleration. To verify the effectiveness of the proposed estimation strategy, double lane
change and slalom virtual tests were conducted based on the simulation platform of CarSim. The virtual
tests data were used to train and verify the estimation algorithm based on adaptive neuro-fuzzy inference
system, and the performance of the two estimation strategies was compared under the situations with and
without interference of active steering, respectively. The results indicate that the proposed estimation
strategy is still effective for the side slip angle with interference of active steering.
Ke y words： side slip angle; active steering; estimation strategy; CarSim; adaptive neuro-fuzzy inference
systRm
收稿日期：2013 -03 -13
基金项目：国家自然科学基金资助项目(51375007 ) ; 宁波市自然科学基金资助项目(2013A610151);王伟明助创基金资助项目
(2013011)
作者简介：魏建伟（1983—)，男，河南开封人，博士，讲师(jianwei^011308@ yahoo. com. cn)，主要从事汽车系统动力学及控制研究.
赵万忠（1982—)，男，江苏兴化人，副教授(zhaowanzhong@ 126. o m ) ，主要从事汽车系统动力学及控制研究.
资源评论
