1、 Tire Pressure Estimation Using Wheel Speed Sensors Takaji Umeno 4 ( ABS ) ( ABS ) 200kPa ( ) 140kPa 4% 4 ( ) 60% ( JAF ) 1 ( ) JAF 20 2 4 4 4 ( ) ABS 60km/h ( ) 10Hz 30 40Hz ( ) ( 200kPa ) ( 120kPa ) 40Hz 35Hz 8 Fig. 1 J 1 : J 2 : K : D : 1 : 2 : s : T d : ( ) 1 ABS K Tire model. Power spectrum of
2、rotational speed. Tire pressure estimation method. Stiffiness vs. pressure. Fig. 2 (1) K D (3) K D (1) (4) 1 w 2 2 (5) w ( ) w = 0 w = K s+ D s T d w = K s D s K s+ D s T d +1 J 10 0 D J 2 0 0 K s D s K s+ D s T d 1 2 s= D J 1D J 2 1 D J 1 D J 2 1 K J 1K J 2 0 1 2 s K = K + K D = D + D 1 2 s= D J 1D
3、 J 2 1 D J 1 D J 2 1 K J 1K J 2 0 1 2 s+ 0 1 J 2 0T d (7) 2 s w T x a 1 , z b 2 2 w T , , B 1 , B 2 = 0 z G e = z (8) ( A 22 GA 12 ) G e = ( A 22 GA 12) eD J 2 1 0D J 21 K J 20 0 1 J 2 0 0 A 11 D J 1 , A 12 D J 1_ K J 10 1 2 s w= D J 1D J 2 1 0 D J 1 D J 2 1 0 K J 1K J 2 0 0 1 J 2 0 0 1 2 s w Struct
4、ure of disturbance observer. = = = = = = 0 A 21 ,A 22 0 z z z (9) K s T d , (10) (11) 0.95 - 0.99 ( ) ( ) ( ) e(k) = T(k) (k 1) w(k), = K D T (k) = 1 (k 1) (k 1)(k) T (k) + T (k)(k 1)(k) (k) = (k 1) (k 1)(k) + T (k)(k 1)(k) e(k) (i) = s (i) s (i) K D= (i) T (i) i = 1 N 1 w(i) (i) i = 1 N w = T d+ K s+ D s 5 6Hz ( ) Power spectrum of drive wheel speed. T dL, R : T s : ( ) J 1L, R : J 2L, R : 1L, R : 2L, R : T s
