Experimental demonstration of body slip angle control based on a novel linear observer for electric vehicle

Aoki, Yukimasa; Uchida, Toshiyuki; Hori, Yoichi

doi:10.1109/iecon.2005.1569320

Cited by 34 publications

(27 citation statements)

References 10 publications

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“…By adopting tire cornering power c', the nonlinear observer model (5) can be described as an equivalent linear model (7) The above equations have the same structures as the linear observer of reference paper [4]. So the same design method of gain matrix K can also be adopted.…”

Section: Body Slip Angle Observer Based On Nonlinear Tire Modelmentioning

confidence: 97%

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Body Slip Angle Estimation and Control for Electric Vehicle with In-Wheel Motors

Geng

Uchida

Hori

2007

IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society

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In this paper, by making use of the important merit that electric vehicle's motor torque can be measured and controlled accurately, a body slip angle (/3 angle) observer based on nonlinear tire model and a novel control method of body slip angle are introduced. Experimental results by UOT March II are shown to verify the effectiveness of the proposed observer. Simulations and tests are conducted to test the control method. The torque difference can be generated directly with in-wheel motors to control body slip angle at its desired value to keep vehicle's stability.

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Section: Body Slip Angle Observer Based On Nonlinear Tire Modelmentioning

confidence: 97%

“…According to [4], K is selected as following, for high response and robustness purposes. In which, it and A2 are the assigned pole values of the observer.…”

Section: Body Slip Angle Observer Based On Nonlinear Tire Modelmentioning

confidence: 99%

Body Slip Angle Estimation and Control for Electric Vehicle with In-Wheel Motors

Geng

Uchida

Hori

2007

IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society

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show abstract

“…So,based on pole placement and robustness, the value of gain matrix K is shown as [6] : 1 2 11 2 11 22 21 21 22 1 2 21 …”

Section: Fig 1 Body Slip Angle Estimates Diagrammentioning

confidence: 99%

Design of Body Slip Angle Observer for Vehicle Stability Control

Liu¹,

Zhang²,

Chu³

et al. 2012

Proceedings of the 2nd International Conference on Electronic and Mechanical Engineering and Information Technology (2012)

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Abstract. Body slip angle is important for Vehicle Stability Control. Due to using sensors to measure body slip angle is very expensive, it is necessary to estimate it from other variables measured easily. A novel method based on non-linear robust observer is proposed for estimation body slip angle. Firstly, full-dimension observer designed based on yaw rate and lateral acceleration to estimate lateral velocity. And then, the body slip angle is estimated by using lateral velocity and longitudinal velocity. The proposed method is verified by offline simulation. The results demonstrate that this method has a better adaptability to different driving conditions and accuracy.

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“…Digital B ODY SLIP angle, also known as sideslip angle, is considered as one of the key enablers of vehicle motion control systems [1]- [4]. However, off-the-shelf products for body-slip-angle measurement such as noncontact optical sensor and GPS-based apparatus are very expensive for practical applications [2].…”

mentioning

confidence: 99%

Multirate Estimation and Control of Body Slip Angle for Electric Vehicles Based on Onboard Vision System

Wang

Nguyen

Fujimoto

et al. 2014

IEEE Trans. Ind. Electron.

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A new method for vehicle body-slip-angle estimation using nontraditional sensor configuration and system model is proposed, which enables robust estimation against vehicle parameter uncertainties. In this approach, a linear vehicle bicycle model is augmented with a simple visual model. As the visual model contains few uncertain parameters and increases the observer's design freedom, the combined model-based estimator provides more accurate estimation result compared with the traditional bicycle-model-based one. However, two issues are raised by the combined vehicle and vision models: 1) image processing introduces delay in the visual measurements, and 2) the sampling time of a normal camera is much longer than that of other onboard sensors. For electric vehicles, the control period of motors is much shorter than the sampling time of a normal camera. Considering the aforementioned delay and multirate problems, a multirate Kalman filter with intersample compensation is designed, and the estimation performance can be improved during the sampling intervals of the vision system. Then, a two-degree-of-freedom controller is designed using the estimated body slip angle as feedback for reference tracking. With the proposed multirate estimator, the controller achieves better tracking performance than the singlerate method. The effectiveness of the proposed estimator and controller is demonstrated by both simulations and experiments.Index Terms-Body slip angle, electric vehicle (EV), measurement delay, multirate estimation, vehicle motion control, vision system.

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Experimental demonstration of body slip angle control based on a novel linear observer for electric vehicle

Cited by 34 publications

References 10 publications

Body Slip Angle Estimation and Control for Electric Vehicle with In-Wheel Motors

Body Slip Angle Estimation and Control for Electric Vehicle with In-Wheel Motors

Design of Body Slip Angle Observer for Vehicle Stability Control

Multirate Estimation and Control of Body Slip Angle for Electric Vehicles Based on Onboard Vision System

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