A Sliding-Mode Virtual Sensor for Wheel Forces Estimation With Accuracy Enhancement via EKF
| Autor: | Ali Charara, Enrico Regolin, Alessandro Correa Victorino, Angel Alatorre, Antonella Ferrara, Massimo Zambelli |
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| Přispěvatelé: | University of Pavia, Heuristique et Diagnostic des Systèmes Complexes [Compiègne] (Heudiasyc), Université de Technologie de Compiègne (UTC)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Excellence 'Maîtrise des Systèmes de Systèmes Technologiques' (Labex MS2T), Università degli Studi di Pavia |
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
Observer (quantum physics)
Computer Networks and Communications Computer science Mode (statistics) Aerospace Engineering 020302 automobile design & engineering 02 engineering and technology Track (rail transport) Vibration Vehicle dynamics Extended Kalman filter 0203 mechanical engineering Flight dynamics Control theory [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering Automotive Engineering [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Electrical and Electronic Engineering ComputingMilieux_MISCELLANEOUS |
| Zdroj: | IEEE Transactions on Vehicular Technology IEEE Transactions on Vehicular Technology, Institute of Electrical and Electronics Engineers, 2019, 68 (4), pp.3457-3471. ⟨10.1109/TVT.2019.2903598⟩ |
| ISSN: | 0018-9545 |
| DOI: | 10.1109/TVT.2019.2903598⟩ |
| Popis: | In this paper, an algorithm for the estimation of the longitudinal and lateral forces exerted at wheel level between tires and ground is presented. Starting from a modified version of the single track vehicle model, which also includes the steady-state effect of pitch and roll on the planar movement of the vehicle, the structure is designed as a cascade of two Sub-Optimal Second-Order Sliding-Mode (S-SOSM) observers, featuring an adaptive feedback that helps improving the accuracy of the estimation of the longitudinal forces. The presented approach is purposely designed so that only standard sensors, which are usually available in commercial vehicles, are exploited. In order to alleviate the high-frequency vibrations introduced by the Sliding-Mode technique, an EKF is added as a second step, which considers the output of the S-SOSM observer as a noisy measurement, hence the virtual sensor nomenclature. The method is evaluated on experimental data, displaying good performance both in terms of accuracy and chattering alleviation. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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