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为解决整车质量在线辨识模型参数适应性问题及质量辨识结果稳定性不理想的问题,提出一种能适应空气阻力变化的在线质量辨识算法。以内燃机商用车为研究对象,使用车辆CAN总线信息和纵向加速度传感器信息,利用纵向动力学和递归最小二乘算法辨识整车质量。算法将计算空气阻力的系数(包含空气阻力系数和整车迎风面积)作为待辨识参数,与整车质量一起组成待辨识的二维向量进行在线辨识;最后利用重型牵引车在真实的交通流环境中开展了较为充分的道路试验,包含满载、半载和空载3种不同载荷的试验,对算法进行了较为全面的验证。研究结果表明:整车质量与空气阻力合成系数同时辨识可以较好地适应商用车空气阻力合成系数变化范围较大的特性;该质量辨识算法在线运行稳定,算法收敛时间在200s左右,且具有良好的精度和适应空气阻力变化的能力;该算法不仅可以消除质量辨识结果对空气阻力计算精度的依赖,也可以辨识出不同载货形式下的空气阻力合成系数,对整车载荷和外形特征变化大的商用车有较大的优势。
In order to solve the problem of adaptive parameter identification and quality stability of the model, a online mass identification algorithm that can adapt to the change of air resistance is proposed. Taking the commercial vehicle of internal combustion engine as the research object, the CAN vehicle bus information and longitudinal acceleration sensor information of the vehicle are used to identify the vehicle quality by using longitudinal dynamics and recursive least squares algorithm. The algorithm calculates the coefficient of air resistance (including the air resistance coefficient and the windward area of the vehicle) as the parameters to be identified, and forms the two-dimensional vector to be identified together with the vehicle mass for on-line identification. Finally, using the heavy-duty tractor in the real traffic flow environment In the full road test carried out, including full load, half-load and no-load three different tests, the algorithm has been more fully verified. The results show that the simultaneous identification of vehicle mass and air-drag synthetic factor can be well adapted to the large variation range of the air-drag combination coefficient of commercial vehicles. The proposed algorithm has the advantages of stable online operation, convergence time about 200 s, The algorithm not only can eliminate the dependence of the quality identification results on the calculation accuracy of air resistance, but also can recognize the air resistance composite coefficient under different types of cargo loading, and has great influence on the load and shape characteristics of the whole vehicle Commercial vehicles have greater advantages.