车辆动力学系统建模

文件名=“vehicle_c”;%文件描述模型结构。订单= (3 5 3);%(纽约nxν)模型订单。参数= [1700;1.5;1.5;1.5 e5;4 e4;0.5);%初始参数。InitialStates = [1;0;0);%初始状态的初始值。t = 0;%的时间连续系统。nlgr = idnlgrey(文件名、秩序、参数、InitialStates Ts,…“名字”,“自行车车模式”,“TimeUnit”,“年代”);nlgr。InputName = {“左前轮胎滑”;…% u (1)。“前面右轮胎滑”;…% u (2)。“后左轮胎滑”;…% u (3)。“后正确的轮胎滑”;…% u (4)。转向角的};…% u (5)。nlgr。InputUnit = {“比”;“比”;“比”;“比”;rad的};nlgr。OutputName = {“长。速度的;…% y (1);纵向车辆速度的纬度。accel。”;…% y (2);车辆横向加速度“偏航率”};…% (3)。nlgr。OutputUnit = {“米/秒”;“米/秒^ 2”;“rad / s”};

nlgr = setinit (nlgr,“名字”,{“纵向车辆速度”…% x (1)。“横向车辆速度”…% x (2)。“偏航率”});…% x (3)。nlgr = setinit (nlgr,“单位”,{“米/秒”;“米/秒”;“rad / s”});nlgr.InitialStates (1)。最小=每股收益(0);%的纵向速度> 0模型是有效的。nlgr = setpar (nlgr,“名字”,{“车辆质量”;…% m。“距离前轴齿轮”;…%的“距离后桥齿轮的;…% b。轮胎纵向刚度的;…%残雪。“横向轮胎刚度”;…% Cy。“空气阻力系数”});…% CA。nlgr = setpar (nlgr,“单位”,{“公斤”;“米”;“米”;“N”;“N / rad”;“1 / m”});nlgr = setpar (nlgr,“最低”,num2cell (eps (0) * (6,1)));%所有参数> 0 !

nlgr.Parameters (1)。固定= true;nlgr.Parameters (2)。固定= true;nlgr.Parameters (3)。固定= true;nlgr.Parameters (6)。固定= true;

礼物(nlgr);

负载(fullfile (matlabroot“工具箱”,“识别”,“iddemos”,“数据”,“vehicledata”));

nlgr1 = nlgr;nlgr1。Name =的自行车车轮胎刚度高的模型;z1 = iddata (y1, u1, 0.1,“名字”,“高轮胎刚度模拟车辆数据”);z1。InputName = nlgr1.InputName;z1。InputUnit = nlgr1.InputUnit;z1。OutputName = nlgr1.OutputName;z1。OutputUnit = nlgr1.OutputUnit;z1。Tstart = 0; z1.TimeUnit =“年代”;

h_gcf = gcf;集(h_gcf,“DefaultLegendLocation”,“东南”);h_gcf。位置= (100 100 795 634);为我= 1:z1。ν次要情节(z1。ν,1,);情节(z1。SamplingInstants z1.InputData (:, i));标题([“输入#”num2str(我)“:”z1.InputName{我}]);包含(”);轴紧;结束包含([z1.Domain“(”z1.TimeUnit“)”]);

为我= 1:z1。纽约次要情节(z1。纽约,1,我);情节(z1。SamplingInstants z1.OutputData (:, i));标题([“输出#”num2str(我)“:”z1.OutputName{我}]);包含(”);轴紧;结束包含([z1.Domain“(”z1.TimeUnit“)”]);

clf比较(z1, nlgr1 [], compareOptions (“InitialCondition”,“模型”));

nlgr1 = nlgreyest (z1, nlgr1);

比较(z1, nlgr1 [], compareOptions (“InitialCondition”,“模型”));

disp (“真正的估计”);流(“纵向刚度:% 6.0 f % 6.0 f \ n '2 e5 nlgr1.Parameters (4) value);流(“横向刚度:% 6.0 f % 6.0 f \ n '5 e4, nlgr1.Parameters (5) value);

nlgr2 = nlgr;nlgr2。Name =自行车车辆模型轮胎刚度较低的;z2 = iddata (y2, u2, 0.1,“名字”,“模拟低轮胎刚度车辆数据”);z2。InputName = nlgr2.InputName;z2。InputUnit = nlgr2.InputUnit;z2。OutputName = nlgr2.OutputName;z2。OutputUnit = nlgr2.OutputUnit;z2。Tstart = 0; z2.TimeUnit =“年代”;

clf为我= 1:z2。ν次要情节(z2。ν,1,);情节(z2。SamplingInstants z2.InputData (:, i));标题([“输入#”num2str(我)“:”z2.InputName{我}]);包含(”);轴紧;结束包含([z2.Domain“(”z2.TimeUnit“)”]);

clf为我= 1:z2。纽约次要情节(z2。纽约,1,我);情节(z2。SamplingInstants z2.OutputData (:, i));标题([“输出#”num2str(我)“:”z2.OutputName{我}]);包含(”);轴紧;结束包含([z2.Domain“(”z2.TimeUnit“)”]);

clf比较(z2 nlgr2 [], compareOptions (“InitialCondition”,“模型”));

nlgr2 = nlgreyest (z2, nlgr2);

比较(z2 nlgr2 [], compareOptions (“InitialCondition”,“模型”));

disp (“真正的估计”);流(“纵向刚度:% 6.0 f % 6.0 f \ n '1 e5 nlgr2.Parameters (4) value);流(“横向刚度:% 6.0 f % 6.0 f \ n '2.5 e4 nlgr2.Parameters (5) value);

nlgr3 = nlgr;nlgr3。Name =“沃尔沃V70车辆模型”;nlgr3.Parameters (6)。值= 0.70;%使用另一个初始CA沃尔沃数据。z3 = iddata (y3, u3, 0.1,“名字”,“沃尔沃V70数据”);z3。InputName = nlgr3.InputName;z3。InputUnit = nlgr3.InputUnit;z3。OutputName = nlgr3.OutputName;z3。OutputUnit = nlgr3.OutputUnit;z3。Tstart = 0; z3.TimeUnit =“年代”;

clf为我= 1:z3。ν次要情节(z3。ν,1,);情节(z3。SamplingInstants z3.InputData (:, i));标题([“输入#”num2str(我)“:”z3.InputName{我}]);包含(”);轴紧;结束包含([z3.Domain“(”z3.TimeUnit“)”]);

clf为我= 1:z3。纽约次要情节(z3。纽约,1,我);情节(z3。SamplingInstants z3.OutputData (:, i));标题([“输出#”num2str(我)“:”z3.OutputName{我}]);包含(”);轴紧;结束包含([z3.Domain“(”z3.TimeUnit“)”]);

nlgr3 = setinit (nlgr3,“价值”,{18.7;0;0});%初始状态的初始值。clf比较(z3、nlgr3);

nlgr3 = setinit (nlgr3,“固定”,{假;真正的;真正的});nlgr3 = nlgreyest (z3、nlgr3 nlgreyestOptions (“SearchMethod”,“lm”));

比较(z3、nlgr3);

disp (“估计”);流(“纵向刚度:% 6.0 f \ n”,nlgr3.Parameters (4) value);流(“横向刚度:% 6.0 f \ n”,nlgr3.Parameters (5) value);

礼物(nlgr3);