# 指数和线性参数化的轮胎-路面纵向附着 条件实时估计方法

## 1 1 1 2 熊 喆 过学迅 裴晓飞 张 杰

China Mechanical Engineering - - 中国机械工程 -

1.武汉理工大学现代汽车零部件技术湖北省重点实验室，武汉， 430070

2.万向集团技术中心，杭州， 311200

DOI：10.3969/j.issn.1004⁃132X.2018.15.009 开放科学(资源服务)标识码(OSID) ： Real-time Tire-road Longitudinal Adhesion Estimation Based on Exponential Sum Linear Parameterization

XIONG Zhe1 GUO Xuexun1 PEI Xiaofei1 ZHANG Jie2

1.Hubei Key Laboratory of Advanced Technology of Automotive Components，

Wuhan University of Technology，Wuhan，430070

2.Wanxiang Group Technical Center，Hangzhou，311200

Abstract： The wheel dynamics modeling and FFRLS （ forgetting factor recursive least ⁃ square） were utilized to develop a method of tire ⁃ road adhesion estimations in longitudinal braking conditions. The modeling object was an FWD（front wheel drive）EV（electric vehicle）equipped with an EHB（elec⁃ tro ⁃ hydraulic brake）. Firstly，a maximized regenerative brake distribution strategy was introduced. The regenerative brake wheels would tend to be locked before other wheels in heavy brake conditions. Sec⁃ ondly，a real ⁃ time adhesion estimation method was designed to lowering the risks of wheel locks. The linear parameterization of ES（exponential sum）was introduced to fit non⁃linear Burckhardt friction mod⁃ el，the on⁃line simulations and HiL（hardware⁃in⁃loop）tests were conducted. Results show that the pro⁃ posed linear method may run in real⁃time，and has better estimation accuracy and convergence rate com⁃ pared with linear Kiencke method.

Key words： adhesion estimation；exponential sum（ES）；optimal slip ratio；linear parameterization

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