Research on the Prediction Model of Engine Output Torque and Real-Time Estimation of the Road Rolling Resistance Coefficient in Tracked Vehicles
Abstract
:1. Introduction
2. Estimation of Based on Recursive Least Squares (RLS) Algorithm
- (1)
- The system output is measured, and the regression vector is calculated.
- (2)
- The difference between the actual output of the system at time and the output of the prediction model obtained by estimating the parameters is calculated. is the time interval. The difference can be expressed as follows:
- (3)
- The updated gain vector and the covariance matrix are calculated. These can be expressed as follows:
- (4)
- The parameter estimation vector is updated as follows:
3. Tracked Vehicle Driving Data Acquisition and Processing
- (1)
- The measurement of the vehicle pitch angle by the gyroscope was affected not only by the road slope but also by installation error, the suspension state, and other factors. Under some conditions, for example, the clutch was engaged too fast when shifting, which caused the vehicle to pitch in a short time even if it was driving on a flat road, resulting in measurement errors. At the same time, a large change in the road slope also increased the measurement error of the acceleration sensor. To improve the prediction accuracy of the model, the driving data with a large angle measured by the gyroscope were eliminated by setting the ramp threshold to , so that the tracked vehicle could drive on a flat road, which was approximately level, as far as possible.
- (2)
- The selected vehicle driving data did not include the clutch separation process, and the driving force during the vehicle driving process was only provided by the engine. The engagement and separation state of the clutch was judged by the displacement of the clutch control cylinder . When the clutch combination displacement , the clutch was considered engaged. Setting the vehicle acceleration threshold and the minimum stable driving time threshold ensured that the stable driving data were screened after the vehicle shift was complete. By analyzing the driving data, we set and . The driving data when the vehicle acceleration for more than 10 s after the clutch was engaged was considered stable and valid data.
- (3)
- It was necessary to limit the heading angle in the screened vehicle driving data to ensure that the tracked vehicle was in a straight-line driving state. Considering the influence of sensor measurement error and random road disturbances, we set . In the selected driving data, the change in the heading angle of the vehicle between the initial moment and the final moment could not exceed .
- (1)
- Update the prediction equation:
- (2)
- Update the Kalman gain coefficient:
- (3)
- Update the measurement equation:
4. Engine Output Torque Prediction Model
5. Experimental Results and Analysis
5.1. Estimation of for Tracked Vehicles Driving on a Sand Road
5.2. Estimation of for Tracked Vehicles Running on a Cement Road
6. Conclusions
- (1)
- The engine output torque prediction model obtained by fitting the vehicle driving data with the GA–BP neural network had a high level of engine output torque prediction accuracy. The engine output torque prediction model was established using vehicle driving data, which reduced the calibration work in the engine bench test stage significantly and had real-time updating capabilities. This method provides a new option for the establishment of an engine output torque model.
- (2)
- In this study, a prediction model of the engine output torque was established, and the RLS algorithm was used to estimate the road rolling resistance coefficients of tracked vehicles under certain driving conditions. The experimental results showed that when the tracked vehicle was driving on a sand road and a cement road, the rolling resistance coefficient of the road could be automatically estimated and had high accuracy when the vehicle driving state satisfied the set driving conditions. To a certain extent, this method meets the requirements for the real-time estimation of the rolling resistance coefficient of a road when a tracked vehicle drives longitudinally.
- (3)
- Limited by the system structure of the tracked vehicle and the measurement error of the sensor, to ensure the prediction accuracy of the engine output torque prediction model and the estimation accuracy of the road rolling resistance coefficient, it is necessary to limit the driving conditions of the tracked vehicle, which makes it difficult to apply this model throughout the whole driving process. Determining how to make the tracked vehicle estimate the road parameters over the whole driving process will be the focus of future research.
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
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Parameter | Value |
---|---|
() | 31,000 |
() | 0.283 |
A () | 6 |
0.45 | |
1.24 | |
(1st gear to 5th gear) | 28.35/13.23/9.45/6.71/4.3 |
(1st gear to 5th gear) | 0.79/0.77/0.76/0.75/0.73 |
Time (s) | Distance () | Gear | Average Speed (km/h) | (GA–BP) | (BP) | (GA–BP) | (BP) | |
---|---|---|---|---|---|---|---|---|
1 | 56.1–154.6 | 671.13 | 4 | 24.48 | 43.6 | 79.69 | 0.9287 | 0.7624 |
2 | 172.2–212.8 | 279.84 | 4 | 24.8 | 32.34 | 60.07 | 0.9305 | 0.7604 |
3 | 266–291.8 | 189.63 | 4 | 26.46 | 43.47 | 75.6 | 0.8727 | 0.6452 |
4 | 319.8–343.1 | 167.53 | 4 | 25.88 | 35.83 | 75.93 | 0.903 | 0.5640 |
5 | 343.3–394.3 | 356.49 | 4 | 25.11 | 40.59 | 76.04 | 0.9118 | 0.6907 |
6 | 398.1–411.1 | 96.98 | 5 | 26.82 | 42.59 | 79.97 | 0.9498 | 0.7437 |
7 | 415.2–429.6 | 136.84 | 5 | 33.99 | 52.66 | 79.26 | 0.9387 | 0.7832 |
8 | 461.6–471.7 | 41.89 | 3 | 14.78 | 51.73 | 69.84 | 0.9184 | 0.7142 |
9 | 475.5–498.3 | 57.39 | 2 | 9.04 | 42.95 | 64.35 | 0.8942 | 0.7627 |
10 | 596.9–611.2 | 56.83 | 3 | 14.3 | 36.67 | 78.73 | 0.9215 | 0.7608 |
Time () | Distance () | Gear | Average Speed (km/h) | (GA–BP) | (BP) | (GA–BP) | (BP) | |
---|---|---|---|---|---|---|---|---|
1 | 33.3–104 | 257.9 | 2 | 13.12 | 19.01 | 33.38 | 0.86 | 0.75 |
2 | 125.3–144.7 | 75.5 | 2 | 13.45 | 11.2 | 18.12 | 0.83 | 0.748 |
3 | 156.1–203.7 | 184.1 | 2 | 13.89 | 10.49 | 18.54 | 0.92 | 0.76 |
4 | 221.7–238.4 | 39.8 | 2 | 8.51 | 11.66 | 20.88 | 0.89 | 0.81 |
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Jia, W.; Liu, X.; Jia, G.; Zhang, C.; Sun, B. Research on the Prediction Model of Engine Output Torque and Real-Time Estimation of the Road Rolling Resistance Coefficient in Tracked Vehicles. Sensors 2023, 23, 7549. https://doi.org/10.3390/s23177549
Jia W, Liu X, Jia G, Zhang C, Sun B. Research on the Prediction Model of Engine Output Torque and Real-Time Estimation of the Road Rolling Resistance Coefficient in Tracked Vehicles. Sensors. 2023; 23(17):7549. https://doi.org/10.3390/s23177549
Chicago/Turabian StyleJia, Weijian, Xixia Liu, Guodong Jia, Chuanqing Zhang, and Bin Sun. 2023. "Research on the Prediction Model of Engine Output Torque and Real-Time Estimation of the Road Rolling Resistance Coefficient in Tracked Vehicles" Sensors 23, no. 17: 7549. https://doi.org/10.3390/s23177549
APA StyleJia, W., Liu, X., Jia, G., Zhang, C., & Sun, B. (2023). Research on the Prediction Model of Engine Output Torque and Real-Time Estimation of the Road Rolling Resistance Coefficient in Tracked Vehicles. Sensors, 23(17), 7549. https://doi.org/10.3390/s23177549