Interactive multi-model filtering method for wheel force sensor

An interactive multi-model, wheel force technology, applied in the field of automobile measurement and control, can solve the problem of difficulty in modeling random wheel force signals, and achieve the effect of high-precision real-time filtering and strong practicability

Active Publication Date: 2017-06-20
SOUTHEAST UNIV
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[0005] Purpose of the invention: Aiming at the problems existing in the prior art, the present invention provides an interactive multi-model filtering method for wheel force sensors, which can cover various dynamic ranges of wheel forces and solve the problem that random wheel force signals are difficult to model , so as to realize real-time filtering of wheel force signal based on Kalman filter

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  • Interactive multi-model filtering method for wheel force sensor
  • Interactive multi-model filtering method for wheel force sensor
  • Interactive multi-model filtering method for wheel force sensor

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[0027] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments.

[0028] Such as figure 1 Shown: An interactive multi-model filtering method for wheel force sensors, including the following steps:

[0029] Step 1: According to the characteristics of strong randomness of the wheel force signal and the mathematical relationship between the direct output of the wheel force sensor and the real wheel force, a general dynamic model of wheel force based on the Singer model is established;

[0030] In order to clearly illustrate the relationship between the real wheel force and the output of the wheel force sensor, the real wheel force coordinate system and the wheel force sensor coordinate system are respectively established, as shown in image 3 shown. The real wheel force coordinate system is defined as follows: select the center of the wheel as the coordinate origin o w , axis o w z w Vertically upwards, axi...

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Abstract

The invention discloses an interactive multi-model filtering method for a wheel force sensor, which comprises the following steps: 1, establishing a universal dynamic model of wheel force based on Singer model according to the characteristic of high randomness of a wheel force signal and a mathematical relationship between direct output from a wheel force sensor and a real wheel force; 2, respectively establishing a high dynamic model of wheel force and a low dynamic model of wheel force by selecting different model parameters based on the previously established universal dynamic model of wheel force; and 3, achieving modeling for wheel force signals within a full dynamic range by using an interactive multi-model method based on the previously established high dynamic model of wheel force and low dynamic model of wheel force, and performing real-time filtering on wheel force signals by using a kalman filter. The interactive multi-model filtering method for a wheel force sensor can encompass wheel forces in various dynamic ranges and solve the problem of difficulty in modeling of random wheel force signals, thereby realizing real-time filtering of wheel force signals based on the kaman filter.

Description

technical field [0001] The invention belongs to the technical field of automobile measurement and control, and in particular relates to an interactive multi-model filtering method for a wheel force sensor. Background technique [0002] The automobile industry plays an important role in the economic development of developed countries. To some extent, the development level of the automobile industry can reflect the overall manufacturing level of a country. In my country, the number of automobiles has continued to grow in recent years, and the good market conditions have stimulated the development of the automobile industry. At the same time, it has also exposed the shortcomings of my country's independent research and development and testing of vehicles. Vehicle motion is the result of the joint action of ground-to-wheel force, vehicle-to-wheel force, and air force, among which ground tire adhesion is the main factor, and is affected by road surface factors, tire factors, vehi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/15G06F2111/10
Inventor 王东冯李航晏华文
Owner SOUTHEAST UNIV
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