基于子空间方法的车辆稳态操纵性模型辨识

上海交通大学学报（自然版） ›› 2011, Vol. 45 ›› Issue (04): 457-463.

基于子空间方法的车辆稳态操纵性模型辨识

管西强, 袁明, 张建武

(上海交通大学机械与动力工程学院, 上海 200240)

出版日期:2011-04-29 发布日期:2011-04-29
基金资助:
汽车动态模拟国家重点实验室开放基金资助项目(20091111)

Identification of the Vehicle Handling System Based on Subspace Method

GUAN Xi-Qiang, YUAN Ming, ZHANG Jian-Wu

(School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China)

Online:2011-04-29 Published:2011-04-29

摘要/Abstract

摘要： 基于子空间辨识方法，对稳态操纵工况下的车辆动力学模型进行辨识.根据子空间算法的假设条件，构建了3自由度车辆模型，并进行系统的可辨识性论证，确定了相应的辨识模型结构.采用方向盘角阶跃输入转向回正性能试验数据进行车辆模型的辨识.辨识模型的验证采用相同车速下的实车蛇形试验数据，分别在时域和频域进行辨识和试验对比.结果显示，两者基本吻合，子空间算法能够很好地适用于线性车辆操纵动力学模型的辨识.

关键词: 系统辨识, 车辆操纵动力学, 子空间方法

Abstract: The system identification of vehicle handling dynamic model was investigated by the subspacebased identification method under linear conditions that the cornering vehicle velocity remains constant. The identification procedure was proposed for construction of inputoutput correlations to vehicle handling dynamics of the linearized system operating at a given speed. The identified dynamic model of the three degrees of freedom was constructed and the identifiability was verified according to the set of assumptions of subspace identification algorithms. Numerical examples were made for the vehicle lateral dynamics model identification and verification using real road test results obtained in two different manoeuvres at the same speed. It is demonstrated by comparisons between the predicted and test results that the present approach is efficient and convenient in the identification of vehicle handling stability systems subjected to the freely parameterized model.

Key words: system identification, vehicle handling dynamics, subspace method

中图分类号:

管西强, 袁明, 张建武. 基于子空间方法的车辆稳态操纵性模型辨识[J]. 上海交通大学学报（自然版）, 2011, 45(04): 457-463.

GUAN Xi-Qiang, YUAN Ming, ZHANG Jian-Wu. Identification of the Vehicle Handling System Based on Subspace Method[J]. Journal of Shanghai Jiaotong University, 2011, 45(04): 457-463.

参考文献

［1］Overchee P V, Moor B D. N4SID: Subspace algorithms for the identification of combined deterministicstochastic systems［J］. Automatica, 1994, 30 (1): 7593.

［2］Wallace E L. Canonical variate analysis in identification, filtering and adaptive control［J］. Proc 29th Conf Dec Contr, 1990, 2: 596604.

［3］Verhaegen M. Identification of the deterministic part of MIMO state space models given in innovations form from inputoutput data［J］. Automatica, 1994, 30 (1): 6174.

［4］Overchee P V, Moor B D. Subspace identification for linear systems: Theory, implementation, applications［M］. Dordrecht：Kluwer Academic Pub, 1996.

［5］Tohru K. Subspace methods for system identification［M］. London: SpringerVerlag, 2005.

［6］Chiuso A, Picci G. Consistency analysis of some closedloop subspace identification methods［J］. Automatica, 2005, 41(1): 377391.

［7］Matuko J, Petrovic＇ I, Peric＇ N. Neural network based tire/road friction force estimation［J］. Engineering Applications of Artificial Intelligence, 2008, 21(3): 442456.

［8］Pasterkamp W R, Pacejka H B. The tyre as a sensor to estimate friction［J］. Vehicle System Dynamics, 1997, 27(56): 409422.

［9］Hodgson G, Best M C. A parameter identifying a Kalman filter observer for vehicle handling dynamics［J］. Journal of Automobile Engineering：Part D, 2006, 220 (D8): 10631072.

［10］Reichardt W. Correlation analysisi of open/closed loop data for objective assessment of handling characteristics of cars［J］. SAE, 1991, 910238.

［11］Gillespie T D.车辆动力学基础［M］. 赵六奇，金达锋译. 北京：清华大学出版社，2006.

［12］LJUNG L. System identification-Theory for the user［M］. 2nd ed. Sweden: Prentice Hall, 1999: 340351.