Onboard Real-Time Estimation of Vehicle Lateral Tire–Road Forces and Sideslip Angle

Doumiati, Moustapha; Victorino, Alessandro Corrêa; Charara, Ali; Lechner, Daniël

doi:10.1109/tmech.2010.2048118

Cited by 243 publications

(123 citation statements)

References 16 publications

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“…Nilanjan et al [122] proposed a sliding mode observer along with modified Dugoff model to estimate the longitudinal velocity and friction coefficient; the only measured state was wheel angular velocity. Doumiati et al [86] proposed a real time algorithm to estimate the tire-road lateral forces and side slip angle using two estimation algorithms of extended and unscented Kalman filter, in which the lateral force was modeled using Dugoff model. Four-wheel vehicle model was used as the dynamical model of the system, and the measured states were longitudinal and lateral acceleration, yaw and roll rate, left and right suspension deflection and the angular velocity of each wheel.…”

Section: Dugoff Tire Modelmentioning

confidence: 99%

A technical survey on tire-road friction estimation

2017

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Lack of driver's knowledge about the abrupt changes in pavement's friction and poor performance of the vehicle's stability, traction, and ABS controllers on the low friction surfaces are the most important factors affecting car crashes. Due to its direct relation to vehicle stability, accurate estimation of tire-road friction is of interest to all vehicle and tire companies. Many studies have been conducted in this field and researchers have used different tools and have proposed different algorithms. This literature survey introduces different approaches, which have been widely used to estimate the friction or other related parameters, and covers the recent literature that contains these methodologies. The emphasize of this review paper is on the algorithms and studies, which are more popular and have been repeated several times. The focus has been divided into two main groups: experiment-based and model-based approaches. Each of these main groups has several sub-categories, which are explained in the next few sections. Several summary tables are provided in which the overall feature of each approach is reviewed that gives the reader the general picture of different algorithms, which are widely used in friction estimation studies.

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Section: Dugoff Tire Modelmentioning

confidence: 99%

A technical survey on tire-road friction estimation

2017

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“…The unscented transformation enables better capturing of mean and covariance of GRVs than simple point-linearization of the mapping: posterior mean and covariance are accurate to the second order of the Taylor series expansion for any nonlinearity. More information about the unscented Kalman filter theory can be found in [21] and [22] while different applications of UKF are presented in [23][24][25].…”

Section: Estimation Of Field-oriented Con-trol Variablesmentioning

confidence: 99%

Fault-tolerant Control of a Wind Turbine with Generator Stator Inter-turn Faults

et al. 2013

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Original scientific paperFaults of wind turbine generator electromechanical parts are common and very expensive. This paper introduces a generator fault-tolerant control scheme for variable-speed variable-pitch wind turbines that can be applied regardless to the AC generator used. The focus is on generator stator isolation inter-turn fault that can be diagnosed and characterised before triggering the safety device. An extension of the conventional wind turbine control structure is proposed that prevents the fault propagation while power delivery under fault is deteriorated as less as possible compared to healthy machine conditions. Fault-induced and inherent asymmetries of the generator are estimated and respected by the field-oriented control of the generator to eliminate torque oscillations. An approach for asymmetry detection based on an unscented Kalman filter is proposed. Presented fault-tolerant control strategy is developed taking into account its modular implementation and installation in available control systems of existing wind turbines to extend their exploitable life span and increase energy production. Simulation results for the case of a megawatt class wind turbine are presented.Key words: Wind turbine control, Generator fault-tolerant control, Stator winding isolation fault, Nonlinear estimation, Asymmetric field-oriented controlUpravljanje vjetroagregatom otporno na me uzavojske kvarove statorskog namota generatora. Kvarovi elektromehaničkih dijelova generatora vjetroagregatačesti su i izrazito skupi. U ovom radu predstavljen je koncept na kvarove otpornog upravljanja generatorom vjetroagregata s promjenjivom brzinom vrtnje i zakretom lopatica primjenjiv bez obzira na tip korištenog izmjeničnog generatora. Naglasak je stavljen na oštećenje izolacije unutar namota jedne faze statora generatora koje se može dijagnosticirati i okarakterizirati prije aktiviranja sustava zaštite. Predložena je nadogradnja postojećeg sustava upravljanja vjetroagregatom koja sprječava širenje kvara i pritom postižečim manje smanjenje proizvodnje električne energije u odnosu na normalan režim rada. Tako er je prikazano vektorsko upravljanje generatorom koje uzima u obzir nesimetrije generatora, kako one nastale uslijed djelovanja kvara, tako i one inherentne. U radu je prikazan pristup za otkrivanje nesimetrija generatora zasnovan na nederivacijskom Kalmanovu filtru. Predstavljena strategija upravljanja razvijena je uvažavajući mogućnost modularnog nadovezivanja na postojeće algoritme upravljanja već postavljenih vjetroagregata s ciljem produženja njihova životnog vijeka i povećanja proizvodnje energije. Dani su simulacijski rezultati za slučaj vjetroagregata iz megavatne klase.Ključne riječi: upravljanje vjetroagregatom, upravljanje otporno na kvarove generatora, kvar izolacije statorskog namota, nelinearna estimacija, vektorsko upravljanje nesimetričnim strojem

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“…Computational effort of UKF with carefully implemented algorithm can be similar to that of the EKF. More information can be found in [14] and [15] while different applications of UKF are presented in [16,17]. The UKF algorithm is given in the sequel.…”

Section: Unscented Kalman Filter Algorithmmentioning

confidence: 99%

Fault-tolerant Control of a Wind Turbine with a Squirrel-cage Induction Generator and Rotor Bar Defects

et al. 2013

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Original scientific paperWind turbines are usually installed on remote locations and in order to increase their economic competence malfunctions should be reduced and prevented. Faults of wind turbine generator electromechanical parts are common and very expensive. This paper proposes a fault-tolerant control strategy for variable-speed variable-pitch wind turbines in case of identified and characterised squirrel-cage generator rotor bar defect. An upgrade of the torque control loop with flux-angle-based torque modulation is proposed. In order to avoid or to postpone generator cage defects, usage of pitch controller in the low wind speed region is introduced. Presented fault-tolerant control strategy is developed taking into account its modular implementation and installation in available control systems of existing wind turbines to extend their life cycle and energy production. Practical implementation aspects such as estimation of variables used in control and estimate errors are considered and respected in operation, as well as fault-induced asymmetries. Simulation results for the case of a megawatt class wind turbine and the identified rotor bar fault are presented.Key words: Wind turbine control, Torque control, Generator fault-tolerant control, Nonlinear estimation, Asymmetric field-oriented controlUpravljanje vjetroagregatom otporno na oštećenja kaveza asinkronog generatora. Vjetroagregati se obično postavljaju na udaljene, nepristupačne lokacije te je potrebno spriječiti nastanak kvarova da bi se povećala njihova ekonomska konkurentnost. Kvarovi elektromehaničkih dijelova generatora vjetroagregatačesti su i vrlo skupi. U ovom radu predstavljen je koncept upravljanja vjetroagregatima s promjenjivom brzinom vrtnje i zakretom lopatica za slučaj identificiranog i okarakteriziranog oštećenja kaveza asinkronog generatora. Predložena je nadogradnja na postojeći algoritam upravljanja momentom zasnovana na njegovoj modulaciji s obzirom na položaj magnetskog toka generatora. Da bi se izbjeglo ili usporilo širenje napuknuća kaveza generatora, predložena je primjena regulacijskog kruga za zakret lopatica i u režimu rada vjetroagregata ispod nazivne brzine vrtnje. Predstavljena strategija upravljanja razvijena je uvažavajući mogućnost modularnog nadovezivanja na postojeće metode upravljanja već postavljenih vjetroagregata s ciljem produženja njihova životnog vijeka i povećanja proizvodnje energije. Razmatrani su i uvaženi aspekti vezani uz praktičnu izvedbu, kao što je estimacija varijabli korištenih u upravljackom algoritmu i pripadajuće pogreške estimata, kao i nesimetrije uzrokovane nastankom kvara. U radu su dani simulacijski rezultati za slučaj vjetroagregata iz megavatne klase s dijagnosticiranim napuknućem kaveza rotora.Ključne riječi: upravljanje vjetroagregatom, upravljanje momentom, upravljanje otporno na kvarove generatora, nelinearna estimacija, vektorsko upravljanje nesimetričnog stroja

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Onboard Real-Time Estimation of Vehicle Lateral Tire–Road Forces and Sideslip Angle

Cited by 243 publications

References 16 publications

A technical survey on tire-road friction estimation

A technical survey on tire-road friction estimation

Fault-tolerant Control of a Wind Turbine with Generator Stator Inter-turn Faults

Fault-tolerant Control of a Wind Turbine with a Squirrel-cage Induction Generator and Rotor Bar Defects

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