Wyniki wyszukiwania - BazTech

1

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

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

Metrology and Measurement Systems

|

2019

|

Vol. 26, nr 1

185--208

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.

2

A method for the estimation of sideslip angle for a vehicle equipped with a one-antenna GPS measuring system for steady state movement

Pieniążek Wiesław, Wolak Stanisław, Janczur Robert

Archiwum Motoryzacji

|

2019

|

Vol. 84, nr 2

137--146

EN

One-antenna GPS systems present no possibility for the direct determination of vehicle slip angle. This is an easy task for dual antenna systems; however, many users have this kind of apparatus. In this paper, a method of estimation of this parameter, which is important for the estimation of vehicle steerability factors, is proposed (e.g. TB factor calculated on the basis of data from input test [8]). The method is based on two parameters measured by a one-antenna GPS system; these are the heading angle created from the Doppler channel coming directly from the GPS engine, and the yaw rate measured by an IMU device integrated and cooperating with the GPS engine. The sideslip angle which was calculated according to the proposed method is compared with an equivalent angle calculated on the basis of data from a non-slip measurement of velocity components for selected point of vehicle acquired using. The presented method is illustrated with examples from real tests. In the author’s opinion, the sideslip angle calculated with the application of measurement data obtained from a one-antenna GPS device could be used in practice. From comparison with another upper mentioned method, it follows that the differences between average values of sideslip angles obtained from both considered methods is not greater than 8%.

3

Analysis of Methods Used to Eliminate the Propeller Slipstream Effect in Single-Engine Aircraft

Popowski S., Dąbrowski W.

Prace Instytutu Lotnictwa

|

2018

|

Nr 2 (251)

58--66

EN

Propeller-driven single-engine aircraft are affected by unsymmetrical flow of air around the fuselage, and especially around the vertical stabilizer [1-3]. This unsymmetrical, propeller-induced slipstream produces sideslip [4,5] that needs to be compensated by the pilot using the rudder [6]. In order to relieve the pilot from this additional task, automatic rudder deflection systems are used that compensate for sideslip by trimming the rudder accordingly. Such compensation algorithms are based on flight parameter measurements. This paper presents more complex systems used to eliminate the phenomenon in question. In addition, it analyzes the existing solutions, based on patents divided into two groups. The first group deals with active slipstream effect compensation solutions, based on aircraft movement parameters that are derived from aircraft performance characteristics defined in advance. The other group comprises solutions that are based directly on feedback containing actual or estimated sideslip angle values. The most advanced systems rely on a combination of the two methods described above.

PL

Napęd śmigłowy samolotu jednosilnikowego powoduje niesymetrię opływu samolotu a szczególnie statecznika pionowego. W następstwie niesymetrycznego opływu samolotu przez strumień zaśmigłowy występuje kąt ślizgu, który kompensowany jest przez pilota za pomocą steru kierunku. Aby odciążyć pilota od tej dodatkowej czynności wprowadza się automatyczną kompensację wychylenia steru kierunku przez odpowiednie sterowanie trymerem steru kierunku. Sterowanie to uzależnione jest od mierzonych parametrów lotu. W pracy przedstawiono bardziej rozbudowane układy usuwania następstw tego zjawiska. Dokonano przeglądu rozwiązań w oparciu o istniejące patenty w dwóch grupach. Pierwsza grupa zawiera rozwiązania aktywnego kompensowania zjawiska strugi zaśmigłowej ze sprzężeniem od parametrów ruchu samolotu w oparciu o zdjęte wcześniej charakterystyki samolotu, druga grupa to rozwiązania ze sprzężeniem zwrotnym bezpośrednio od kąta ślizgu lub estymowanego kąta ślizgu. Bardziej rozbudowane układy zawierają połączenie obu sposobów.

4

Estimation of vehicle sideslip angle via pseudo-multisensor information fusion method

Chen T., Chen L., Cai Y., Xu X.

Metrology and Measurement Systems

|

2018

|

Vol. 25, nr 3

499--516

EN

This paper presents a novel sideslip angle estimator based on the pseudo-multi-sensor fusion method. The kinematics-based and dynamics-based sideslip angle estimators are designed for sideslip angle estimation. Also, considering the influence of ill-conditioned matrix and model uncertainty, a novel sideslip angle estimator is proposed based on the wheel speed coupling relationship using a modified recursive least squares algorithm. In order to integrate the advantages of above three sideslip angle estimators, drawing lessons from the multisensory information fusion technology, a novel thinking of sideslip angle estimator design is presented through information fusion of pseudo-multi-sensors. Simulations and experiments were carried out, and effectiveness of the proposed estimation method was verified.