Volume 42 Issue 7
Aug 2022
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JOURNAL OF MECHANICAL ENGINEERING  > 2022  >  42(7): 713-722.
WANG Hongbo, XU Shihan, ZHOU Daolin, WANG Xiangyu, LIU Xinyu. Vehicle Mass-Centroid Sideslip Angle Estimation Based on Extension Fusion of Fuzzy Sliding-Mode Observer and Sensor Signal Integral[J]. JOURNAL OF MECHANICAL ENGINEERING, 2022, 42(7): 713-722. doi: 10.15918/j.tbit1001-0645.2021.300
Citation: WANG Hongbo, XU Shihan, ZHOU Daolin, WANG Xiangyu, LIU Xinyu. Vehicle Mass-Centroid Sideslip Angle Estimation Based on Extension Fusion of Fuzzy Sliding-Mode Observer and Sensor Signal Integral[J]. JOURNAL OF MECHANICAL ENGINEERING, 2022, 42(7): 713-722. doi: 10.15918/j.tbit1001-0645.2021.300
shu

Vehicle Mass-Centroid Sideslip Angle Estimation Based on Extension Fusion of Fuzzy Sliding-Mode Observer and Sensor Signal Integral

doi: 10.15918/j.tbit1001-0645.2021.300
  • 1.

    School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei, Anhui 230009, China

  • 2.

    State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China

  • 3.

    Anhui Intelligent Vehicle Engineering Laboratory, Hefei, Anhui 230009, China

  • Received Date: 05 Nov 2021
  • Issue Publish Date: 17 Aug 2022
    Abstract
  • Vehicle mass-centroid sideslip angle plays an important role in the judgment of vehicle lateral stability. Overestimation or underestimation of the sideslip angle will affect the stability control system. At present, the estimation of sideslip angle still has a large error and has not been practically used in engineering. In order to reduce the observation error and improve the practicability of the estimation system, a robust fuzzy second-order sliding-mode observer was proposed to calculate the observed value of the sideslip angle, and the integral value of the sideslip angle was calculated by using the inertial measurement unit signal. Then, the advantages and disadvantages of the two estimation methods were analyzed, and the observation estimation value and the integral estimation value of the sideslip angle were extensively fused to realize the correction of the observation value with the sensor signal. Finally, the estimation method of sideslip angle was verified by Simulink/TruckSim simulation and hardware in the loop simulation. The effectiveness of the proposed method is proved based on the control effect in real vehicle test under the constant circular acceleration condition. The results show that the proposed method can accurately reflect the actual sideslip angle, and has good reliability and practicability.

     

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