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Parameter identification of vertical plane model for autonomous underwater vehicle based on hierarchical multi-innovation stochastic gradient algorithm

Release time:2025-07-14  Hits:

  • Key Words:EPB动态紧急制动;Pacejka轮胎-路面模型;粒子群优化算法;最佳滑移率辨识;半主动悬架
  • Abstract:针对固定目标滑移率的ABS控制器在复杂路面制动时无法跟踪复杂路面最佳滑移率的问题，提出了一种车辆制动最佳滑移率的辨识方法，以进一步增大车辆制动时的纵向力，提高制动稳定性并缩短制动距离。首先，考虑车辆制动过程中的轴荷转移和悬架变形，建立了包含前后轮7自由度1/2车半主动悬架模型的车辆模型，该模型能够根据车速、轮速和制动力矩准确计算出车辆制动时的车轮纵向力和垂向力。提出基于简化粒子群优化算法的最佳滑移率辨识方法，对Pacejka轮胎-路面模型进行实时参数辨识，辨识出最大纵向力对应的最佳滑移率。最后，基于车辆EPB动态紧急制动工况，在Matlab/Simulink平台进行了仿真试验，证明了论文所提方法的有效性。
  • Volume:v.45;No.367
  • Issue:01
  • Translation or Not:no
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