Sideslip angle estimation of in-wheel motor drive electric vehicles by cascaded multi-Kalman filters and modified tire model

• Autorzy: Chen Long , Chen Te , Xu Xing , Cai Yingfeng , Jiang Haobin , Sun Xiaoqiang

Identyfikatory

DOI

10.24425/mms.2019.126329

• Języki publikacji: EN

Abstrakty

EN

Reliable estimation of longitudinal force and sideslip angle is essential for vehicle stability and active safety control. This paper presents a novel longitudinal force and sideslip angle estimation method for four-wheel independent-drive electric vehicles in which the cascaded multi-Kalman filters are applied. Also, a modified tire model is proposed to improve the accuracy and reliability of sideslip angle estimation. In the design of longitudinal force observer, considering that the longitudinal force is the unknown input of the electric driving wheel model, an expanded electric driving wheel model is presented and the longitudinal force is obtained by a strong tracking filter. Based on the longitudinal force observer, taking into consideration uncertain interferences of the vehicle dynamic model, a sideslip angle estimation method is designed using the robust Kalman filter and a novel modified tire model is proposed to correct the original tire model using the estimation results of longitudinal tire forces. Simulations and experiments were carried out, and effectiveness of the proposed estimation method was verified.

Słowa kluczowe

EN

distributed drive electric vehicle; Kalman filter; error compensation; sideslip angle

• Wydawca: Komitet Metrologii i Aparatury Naukowej PAN
• Czasopismo: Metrology and Measurement Systems
• Rocznik: 2019
• Tom: Vol. 26, nr 1
• Strony: 185--208
• Opis fizyczny: Bibliogr. 37 poz., rys., tab., wykr., wzory

Twórcy

autor

Chen Long

• Jiangsu University, School of Automotive and Traffic Engineering, Zhenjiang 212013, China

autor

Chen Te

• Jiangsu University, School of Automotive and Traffic Engineering, Zhenjiang 212013, China

autor

Xu Xing

• Jiangsu University, School of Automotive and Traffic Engineering, Zhenjiang 212013, China

autor

Cai Yingfeng

• Jiangsu University, School of Automotive and Traffic Engineering, Zhenjiang 212013, China

autor

Jiang Haobin

• Jiangsu University, School of Automotive and Traffic Engineering, Zhenjiang 212013, China

autor

Sun Xiaoqiang

• Jiangsu University, School of Automotive and Traffic Engineering, Zhenjiang 212013, China

Bibliografia

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Uwagi

EN

1. This work was supported by the National Natural Science Foundation of China (grant numbers U1564201 and U1664258), National Key Research and Development Program of China (grant number 2017YFB0102603), Key R&D Plan of Jiangsu Province (grant number BE 2016149 and BE2017129), 333 Project of Jiangsu Province (grant number BRA2016445), Natural Science Foundation of Jiangsu Province (grant number BK 20160525), and Natural Science Foundation of colleges and universities in Jiangsu Province (grant number 16KJB580012).

PL

2. Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).