多采样率卡尔曼滤波器在汽车状态估计中的应用

周聪; 肖建; 王嵩

doi:10.3969/j.issn.0258-2724.2012.05.019

多采样率卡尔曼滤波器在汽车状态估计中的应用

doi: 10.3969/j.issn.0258-2724.2012.05.019

基金项目:

国家自然科学基金资助项目(51177137,61134001)

中央高校基本科研业务费专项资金资助项目(SWJTU11CX034)

计量
- 文章访问数: 1190
- HTML全文浏览量: 84
- PDF下载量: 400
- 被引次数: 0
出版历程
- 收稿日期: 2011-10-27
- 刊出日期: 2012-10-25

Application of Multirate Unscented Kalman Filter to State Estimation in Vehicle's Active Front Steering System

摘要

摘要: 为了改善复杂系统中单采样率控制策略的控制品质,在深入研究多采样率数字控制系统和卡尔曼滤波算法的基础上,提出了输入多采样率的卡尔曼滤波算法.将该算法应用于汽车主动前轮转向系统中,对横摆角速度、质心侧偏角和纵向车速进行估计,通过Carsim与Simulink的联合仿真以及蒙特卡罗试验,验证了算法的有效性.研究结果表明:多采样率卡尔曼滤波算法有利于融合多个输入量的信息,能改善状态估计器的性能,比单采样率卡尔曼滤波算法具有更高的稳定性,且估计误差减小4.0%~48.7%.
- 多采样率数字控制系统 /
- 无迹卡尔曼滤波 /
- 状态估计 /
- 主动前轮转向
Abstract: In order to improve the control quality of the single-rate digital control strategy in a complex system, an input multirate unscented Kalman filter (IMRUKF) was developed by combination of multirate digital control systems and the unscented Kalman filter (UKF) algorithm. The IMRUKF algorithm was applied to estimate the yaw rate, slip angle, and longitudinal velocity of the active front steering (AFS) system of vehicles. Then, a co-simulation and a Monte Carlo experiment were carried out using Carsim and Simulink. The results show that IMRUKF improves the ability of the state estimator by integrating multi-input information. Compared with the single-rate UKF algorithm, the IMRUKF algorithm has a higher stability and a smaller estimation error (with a reduction in the error of around 4.0% to 48.7%).
- multirate digital control system /
- unscented Kalman filter (UKF) /
- state estimation /
- active front steering (AFS)

HTML全文

参考文献(16)

肖建,徐志根. 多采样率数字控制系统综述[J]. 信息与控制,2003,32(5): 436-441. XIAO Jian, XU Zhigen. Survey on the research of multirate digital control systems[J]. Information and Control, 2003, 32(5): 436-441.

肖建,唐磊. 输入多采样率数字控制系统的同时极点配置[J]. 控制理论与应用,2002,19(4): 595-598. XIAO Jian, TANG Lei. Simultaneous pole assignment of input multirate digital control systems[J]. Control Theory and Applications, 2002, 19(4): 595-598.

蒋林,肖建,黄景春,等. 非线性系统的输入多采样率模糊优化控制[J]. 控制与决策,2008,23(4): 382-387. JIANG Lin, XIAO Jian, HUANG Jingchun, et al. Multirate input fuzzy optimal control for nonlinear systems[J]. Control and Decision, 2008, 23(4): 382-387.

LEE S H. Multirate digital control system design and its application to computer disk drives[J]. IEEE Transactions on Control Systems Technology, 2006, 14(1): 123-133.

PRENDERGAST R S, LEVY B C, HURST P J. Reconstruction of band-limited periodic nonuniformly sampled signals through multirate filter banks[J]. IEEE Transactions on Circuits and Systems, 2004, 51(8): 1612-1622.

肖建,白裔峰,于龙. 模型系统结构辨识综述[J]. 西南交通大学学报,2006,41(2): 135-142. XIAO Jian, BAI Yifeng, YU Long. Overview of fuzzy system structure identification[J]. Journal of Southwest Jiaotong University, 2006, 41(2): 135-142.

VENHOVENS P J, NAAB K. Vehicle dynamics estimation using Kalman filters[J]. Vehicle System Dynamics, 1999, 32(2): 171-184.

宗长富,潘钊,胡丹,等. 基于扩展卡尔曼滤波的信息融合技术在车辆状态估计中的应用[J]. 机械工程学报,2009,45(10): 272-277. ZONG Changfu, PAN Zhao, HU Dan, et al. Information fusion algorithm for vehicle state estimation based on extended Kalman filtering[J]. Journal of Mechanical Engineering, 2009, 45(10): 272-277.

赵又群,林棻. 基于UKF算法的汽车状态估计[J]. 中国机械工程,2010,21(5): 615-629.ZHAO Youqun, LIN Fen. Vehicle state estimation based on unscented Kalman filter algorithm[J]. China Mechanical Engineering, 2010, 21(5): 615-629.

马磊,史习智. 多智能体系统中一致性卡尔曼滤波的研究进展[J]. 西南交通大学学报,2011,46(2): 287-293. MA Lei, SHI Xizhi. Recent development on consensus-based Kalman filtering in multi-agent systems[J]. Journal of Southwest Jiaotong University, 2011, 46(2): 287-293.

DOMINICK A, GAU C F. Estimation using a multirate filter[J]. IEEE Transaction on Automatic Control, 1987, 32(7): 653-656.

陆可,肖建. 多采样率EKF及其在感应电机转速估计中的应用[J]. 西南交通大学学报,2007,42(5): 620-625. LU Ke, XIAO Jian. Multirate extended Kalman filter and its application to speed estimation of induction motors[J]. Journal of Southwest Jiaotong University, 2007, 42(5): 620-625.

余志生. 汽车理论[M]. 北京:机械工业出版社,2007: 116-118.

JULIER S J, UHLMANN J K, DURRANT-WHYTE H F. A new method for the nonlinear transformation of means and covariances in filters and estimators[J]. IEEE Transactions on Automatic Control, 2000, 45(3): 477-482.

肖建. 多采样率数字控制系统[M]. 北京:科学社会出版社,2003: 58-73.

ISO. Passenger cars-test track for a severe lane-change manoeuvre-part 1: double lane-change[S]. Geneve: International Organization for Standardization, 1999.

施引文献

附加材料(0)

访问统计

点击查看大图

计量

文章访问数: 1190
HTML全文浏览量: 84
PDF下载量: 400
被引次数: 0

多采样率卡尔曼滤波器在汽车状态估计中的应用

doi: 10.3969/j.issn.0258-2724.2012.05.019

计量

出版历程

Application of Multirate Unscented Kalman Filter to State Estimation in Vehicle's Active Front Steering System

计量

出版历程

目录