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浙江大学学报(工学版)
浙江大学学报(工学版)  2025, Vol. 59 Issue (10): 2106-2114    DOI: 10.3785/j.issn.1008-973X.2025.10.011
交通工程、水利工程、土木工程     
基于多方法加权融合的矿用车质心侧偏角估计
李仲兴(),贾英竹,耿国庆,覃夷旭,杨鑫昌
江苏大学 汽车与交通工程学院，江苏 镇江 212013
Mining truck sideslip angle estimation based on multiple methods weighted fusion
Zhongxing LI(),Yingzhu JIA,Guoqing GENG,Yixu QIN,Xinchang YANG
School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China
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摘要：

针对矿用车在崎岖路面工况下质心侧偏角估计困难的问题，提出基于扩展卡尔曼滤波(EKF)方法和积分方法加权融合的质心侧偏角估计方法. 为了准确描述车辆运动状态，建立包含非独立悬架和平衡悬架的矿用车十七自由度动力学模型. 利用基于轮速的车辆纵向速度估计器获取车辆纵向速度初步估计值，构建基于EKF的车辆纵、横向速度估计器和车辆横向速度积分估计器. 根据EKF方法和积分方法的特点，提出比例-微分融合权重系数计算方法，借此对2种方法进行加权融合. 仿真实验结果表明，所提方法能够结合EKF方法和积分方法的优点，实现车辆质心侧偏角的准确估计，具有较好的崎岖路面工况适应能力.
关键词： 矿用车;  状态估计;  融合估计;  动力学模型;  质心侧偏角;  扩展卡尔曼滤波(EKF)    
Abstract:

To address the challenge of estimating the sideslip angle of the mining truck in rugged terrain conditions, a sideslip angle estimation method based on the weighted fusion of the extended Kalman filter (EKF) method and the integration method was proposed. To accurately describe the vehicle’s motion state, a 17-DOF dynamic model of a mining truck incorporating both solid axle suspension and tandem suspension was established. Using a wheel-speed-based vehicle longitudinal speed estimator to obtain a preliminary estimate of the vehicle’s longitudinal velocity, a vehicle longitudinal and lateral velocity estimator based on EKF and a vehicle lateral velocity integration estimator were developed. Based on the characteristics of the EKF method and the integration method, a proportional-derivative fusion weight calculation method was proposed to fuse the two methods. Simulation results show that the proposed method can achieve accurate estimation of the vehicle’s sideslip angle by leveraging the advantages of both the EKF method and integration method, and has a good adaptability to the rugged terrain conditions.
Key words: mining truck    state estimation    fusion estimation    dynamics model    sideslip angle    extended Kalman filter (EKF)
收稿日期: 2024-09-25 出版日期: 2025-10-27
CLC:  U 461.1  
作者简介: 李仲兴（1963—），男，教授，博导，从事车辆动态性能模拟与控制研究. orcid.org/0000-0002-9022-0941. E-mail：zhxli@ujs.edu.cn
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李仲兴
贾英竹
耿国庆
覃夷旭
杨鑫昌

引用本文:

李仲兴,贾英竹,耿国庆,覃夷旭,杨鑫昌. 基于多方法加权融合的矿用车质心侧偏角估计[J]. 浙江大学学报(工学版), 2025, 59(10): 2106-2114.

Zhongxing LI,Yingzhu JIA,Guoqing GENG,Yixu QIN,Xinchang YANG. Mining truck sideslip angle estimation based on multiple methods weighted fusion. Journal of ZheJiang University (Engineering Science), 2025, 59(10): 2106-2114.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2025.10.011    或    https://www.zjujournals.com/eng/CN/Y2025/V59/I10/2106

参数数值
满载质量m/kg110 000
整车横摆转动惯量Iz/(kg·m2)470 000
车轮半径R/mm734
满载质心高度h/mm1 995
质心到一轴的距离l1/mm3 693
质心到二轴的距离l2/mm107
质心到三轴的距离l3/mm1 857
一轴轮距B1/mm3 094
二轴轮距B2/mm2 984
三轴轮距B3/mm2 984
一轴非簧载质量ma1/(kg·m2)800
二轴非簧载质量ma2/(kg·m2)1 100
三轴非簧载质量ma3/(kg·m2)1 100
一桥侧倾转动惯量Ia1/(kg·m2)300
二桥侧倾转动惯量Ia2/(kg·m2)350
三桥侧倾转动惯量Ia3/(kg·m2)350
表 1  矿用车参数
图 1  矿用车十七自由度动力学模型
图 2  崎岖地形下轮胎纵向力和法向力
图 3  左侧平衡梁受力
参数数值参数数值
a01.597a7?0.3168
a1?1.103a80.01101
a2819.7a90.001710
a323340a10?0.1327
a4312.1a1120.17
a50.02031a12?5.208
a60.00001942a13?85.30
表 2  轮胎侧向力特性参数
图 4  扩展卡尔曼滤波方法与积分方法横向速度估计效果对比
图 5  比例-微分融合权重系数计算方法
图 6  矿用车质心侧偏角估计方法流程图
Hs/mm估计方法v=15 km/hv=20 km/h
RMSE/(°)ME/(°)RMSE/(°)ME/(°)
150EKF0.136 80.413 60.256 90.622 5
积分0.132 20.269 60.137 20.312 4
融合0.087 30.253 70.100 50.265 3
200EKF0.199 30.639 40.414 71.077 0
积分0.158 10.325 70.249 00.455 0
融合0.116 70.321 60.181 30.386 1
表 3  扭曲路车辆质心侧偏角估计误差
图 7  扭曲路车辆质心侧偏角估计结果（Hs=150 mm）
Hs/mm估计方法v=15 km/hv=20 km/h
RMSE/(°)ME/(°)RMSE/(°)ME/(°)
180EKF0.157 10.496 20.241 50.587 3
积分0.091 20.186 40.383 70.612 4
融合0.060 00.173 80.228 20.547 9
140EKF0.131 50.432 70.174 70.446 1
积分0.056 90.159 20.182 00.362 7
融合0.053 70.153 60.147 70.370 6
表 4  单边凸块路面质心侧偏角估计误差
图 8  单边凸块路面车辆质心侧偏角估计结果（Hs=180 mm）
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