Conference Paper

Robust design of body slip angle observer with cornering power identification at each tire for vehicle motion stabilization

Dept. of Electr. Eng., Tokyo Univ.
DOI: 10.1109/AMC.2006.1631726 Conference: Advanced Motion Control, 2006. 9th IEEE International Workshop on
Source: IEEE Xplore


Body slip angle is important for vehicle's safety. However as sensors to measure beta are very expensive, we need to estimate beta from only variables to be measurable. In this paper,we propose a novel method based on gamma and side acceleration ay. To make this observer more robust, we design the observer's gain matrix for robustness and propose how to identify cornering power at each tire. Next, we proposed new control methods for 2-dimension control. We control beta by yaw moment with PID controller. This method is known as DYC (direct yaw moment control) in internal combustion engine vehicles (ICVs). In EVs with in-wheel motors, the torque difference can be generated directly. We performed experiments by UOT MarchII. The experimental results proved that our proposed method is excellent

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    • "Among these parameters, cornering stiffness is influenced significantly by the road friction. Type II uses linear system identification theorem [9] [10] [11] [12] or adaptive observer based on Lyapunov stability theory [13] [14] [15] to identify the cornering stiffness at the front and rear tires by assuming that the rest of vehicle parameters are known. Various estimators can then be designed to estimate the sideslip angle or lateral velocity. "
    [Show abstract] [Hide abstract]
    ABSTRACT: Vehicle sideslip angle can be estimated using either dynamic or kinematic models. The dynamic model requires vehicle parameters, which might have uncertainties due to different load conditions, vehicle motions, and road frictions. Parameter uncertainties might result in estimation errors. Thus system identifications are required to estimate those parameters online. On the other hand, the kinematic model does not require these parameters. A closed-loop estimator can be formulated to estimate the sideslip angle using the kinematic model. Since the system matrix which consists of the yaw rate is time varying, the required input vector and output contain process and measurement noises, respectively, and the disturbance input matrix contains estimated states, extended Kalman filter is used to obtain the estimation gain in this paper. CarSim is used to evaluate the proposed approach under different driving scenarios and road frictions in Matlab/Simulink. The preliminary results show promising improvement of the sideslip angle estimation.
    Full-text · Article · Sep 2008 · Vehicle System Dynamics
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    ABSTRACT: Remarkable advantage of EV is the electric motor's excellent performance in motion control. This can be summarized as: (1) torque generation is very quick and accurate, (2) output torque is easily known, and (3) motor can be small enough to be installed in each wheel. Our final target is to enhance the vehicle stability by utilizing these advantages of EV. First, in this paper, we propose a new skid prevention method for EVs utilizing effective torque (current) reduction characteristics in response to rapid increase of rotational speed of the motor. The experimental results using hardware skid simulator consists of Motor-Generator setup and actual vehicle test using UOT Cadwell EV verified the effectiveness of the method. In the next part, we discuss about estimation and control technique of the body slip angle β, which is important for vehicle lateral motion stability. We will propose a novel β observer based on γ and side acceleration a y measurement. To make this observer robust to parameter variation, a novel observer gain design is considered. Also, we propose the identification method of cornering power at each tire. Experiments by using UOT MarchII and Cadwell EV proved the effectiveness of our proposed method.
    Preview · Article · Jan 2006
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    ABSTRACT: In this paper, we propose a yaw moment control based on fuzzy-logic controller to enhance the vehicle stability. A two-degree-of-freedom nonlinear model of the considered vehicle is briefly presented. The feedback of the yaw rate and sideslip angle are regarded as inputs of the controller. The developed controller generates the suitable steering angle so that the vehicle follows the target values of the yaw rate. A simulation is performed at different conditions. The simulation results show that the yaw rate of controlled vehicle follow the target value of the desired yaw rate, degrading the values of the sideslip angle, when the vehicle is subject to different cornering maneuvers such as change line and step signal.
    No preview · Article · Jan 2010
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