Sequential square root filtering for measuring tractor driving wheel slip rate

2017 ◽  
Author(s):  
Cao Qing Mei ◽  
Zhou Zhi Li
Keyword(s):  
Slip Rate ◽  
Square Root ◽  
Wheel Slip ◽  
Driving Wheel

scholarly journals A Novel Longitudinal Speed Estimator for Four-Wheel Slip in Snowy Conditions

2021 ◽  
Vol 11 (6) ◽  
pp. 2809
Author(s):  
Dongmin Zhang ◽  
Qiang Song ◽  
Guanfeng Wang ◽  
Chonghao Liu
Keyword(s):  
Control Strategies ◽  
Low Cost ◽  
Estimation Error ◽  
Slip Rate ◽  
Vehicle Speed ◽  
Acceleration Sensor ◽  
Wheel Slip ◽  
Longitudinal Acceleration ◽  
Tire Rotation ◽  
Speed Estimator

This article proposes a novel longitudinal vehicle speed estimator for snowy roads in extreme conditions (four-wheel slip) based on low-cost wheel speed encoders and a longitudinal acceleration sensor. The tire rotation factor, η, is introduced to reduce the deviation between the rotation tire radius and the manufacturer’s marked tire radius. The Local Vehicle Speed Estimator is defined to eliminate longitudinal vehicle speed estimation error. It improves the tire slip accuracy of four-wheel slip, even with a high slip rate. The final vehicle speed is estimated using two fuzzy control strategies that use vehicle speed estimates from speed encoders and a longitudinal acceleration sensor. Experimental and simulation results confirm the algorithm’s validity for estimating longitudinal vehicle speed for four-wheel slip in snowy road conditions.

Drive and Brake Joint Control of Acceleration Slip Regulation Road Test

2014 ◽  
Vol 971-973 ◽  
pp. 454-457
Author(s):  
Gang He ◽  
Li Qiang Jin
Keyword(s):  
Front Wheel ◽  
Driving Ability ◽  
Joint Control ◽  
Test Results ◽  
Road Test ◽  
Wheel Slip ◽  
Traction Control ◽  
Wheel Drive ◽  
Driving Wheel ◽  
Independent Design

Based on the independent design front wheel drive vehicle traction control system (TCS), we finished the two kinds of working condition winter low adhesion real vehicle road test, including homogenous pavement and separate pavement straight accelerate, respectively completed the contrastive experiment with TCS and without TCS. Test results show that based on driver (AMR) and brake (BMR) joint control ASR system worked reliably, controlled effectively, being able to control excessive driving wheel slip in time, effectively improved the driving ability and handling stability of vehicle.

A Research on Anti-Slip Regulation for 4WD Electric Vehicle with In-Wheel Motors

2013 ◽  
Vol 347-350 ◽  
pp. 753-757
Author(s):  
Li Zhou ◽  
Lu Xiong ◽  
Zhuo Ping Yu
Keyword(s):  
Control Strategy ◽  
Sliding Mode ◽  
Traction Force ◽  
Slip Rate ◽  
Control Effect ◽  
Wheel Slip ◽  
Slip Ratio ◽  
Tire Force ◽  
Optimal Slip Ratio ◽  
Electrical Vehicle

This paper proposes a wheel slip control strategy for 4WD Electrical Vehicle with In-wheel Motors. In the first part of this paper, a brief introduction of sliding mode control for acceleration slip regulation is given. Consider that its control effect varies with road conditions, another algorithm which can automatically adapt to different roads is designed. This method takes advantage of the peculiarity of the longitudinal static tire force curve and regulates wheel slip ratio to the detected optimal value, aiming to maximize the traction force while preserving sufficient lateral tire force. Simulation results show that the slip rate can be regulated to a value around the optimal slip ratio, and the driving torque is very close to the maximum transmissible torque. The control strategy achieves stronger stability, shorter driving distance and hence better control performance.

scholarly journals Optimal Slip Ratio Based Fuzzy Control of Acceleration Slip Regulation for Four-Wheel Independent Driving Electric Vehicles

2013 ◽  
Vol 2013 ◽  
pp. 1-7 ◽  
Author(s):  
Guodong Yin ◽  
Shanbao Wang ◽  
Xianjian Jin
Keyword(s):  
Fuzzy Logic ◽  
Electric Vehicle ◽  
Electric Vehicles ◽  
Fuzzy Logic Control ◽  
Fuzzy Controller ◽  
Angular Acceleration ◽  
Slip Rate ◽  
Wheel Slip ◽  
Slip Ratio ◽  
Logic Control

To improve the driving performance and the stability of the electric vehicle, a novel acceleration slip regulation (ASR) algorithm based on fuzzy logic control strategy is proposed for four-wheel independent driving (4WID) electric vehicles. In the algorithm, angular acceleration and slip rate based fuzzy controller of acceleration slip regulation are designed to maintain the wheel slip within the optimal range by adjusting the motor torque dynamically. In order to evaluate the performance of the algorithm, the models of the main components related to the ASR of the four-wheel independent driving electric vehicle are built in MATLAB/SIMULINK. The simulations show that the driving stability and the safety of the electric vehicle are improved for fuzzy logic control compared with the conventional PID control.

scholarly journals MATTERS OF LOAD DECREASE IN TRACTION DRIVE UNITS AT BOXING

2021 ◽  
Vol 2021 (1) ◽  
pp. 43-51
Author(s):  
Andrey Kosmodamianskiy ◽  
Dmitriy Shevchenko ◽  
Pavel Zhirov
Keyword(s):  
Slip Rate ◽  
Electric Locomotive ◽  
Wheel Slip ◽  
Wheel Pair ◽  
Traction Drive ◽  
Electric And Magnetic Fields ◽  
Load Increase ◽  
The Impact ◽  
Similar Dynamic ◽  
Instantaneous Control

The purpose of this work consists in the development of constructive solutions decreasing loads in the units of the electric locomotive traction drive at boxing. The investigations carried out in the field of electric locomotive operation on domestic railways have shown that one of the basic directions in the decrease of non-sprung masses consists in the introduction of an elastic tie between a wheel pair and a drive motor armature. The improvement mentioned results in the considerable load increase in the traction drive at friction self-oscillations arising in the mode of wheel slip on a rail. The analysis, carried out in the work, of methods to reduce similar dynamic loads has shown that approaches efficient enough are: - shock vibro-damping of wheel pair self-oscillations, - limitation of wheel slip rate on a rail with the control of friction factor by means of the impact upon a contact area of electric and magnetic fields, - changes of elastic-dissipative properties of dynamic systems in an electric locomotive running gear to control self-oscillation fashions. To realize measures described there are offered constructive solutions limiting self-oscillation amplitudes in a boxing mode. In particular the system of instantaneous control with clutch amplifies based on the application of magnetic inductor in the form of a mounted unit upon a crew section of an electric locomotive. For realization of the method for the process control of the competition of self-oscillation fashions there is offered a design of the device changing forcibly a fashion of growing self-oscillations at the expense of the control of elastic-dissipative properties of dynamic system links in the traction drive. The innovation solutions developed are protected with the patent for invention, two patents for utility model.

scholarly journals Torque Vectoring Control of RWID Electric Vehicle for Reducing Driving-Wheel Slippage Energy Dissipation in Cornering

Energies ◽  
2021 ◽  
Vol 14 (23) ◽  
pp. 8143
Author(s):  
Junnian Wang ◽  
Siwen Lv ◽  
Nana Sun ◽  
Shoulin Gao ◽  
Wen Sun ◽  
...  
Keyword(s):  
Energy Dissipation ◽  
Electric Vehicle ◽  
Control Strategy ◽  
Rear Wheel ◽  
Recursive Least Squares ◽  
Wheel Slip ◽  
Saturation Region ◽  
Torque Vectoring ◽  
Driving Wheel ◽  
Driving Range

The anxiety of driving range and inconvenience of battery recharging has placed high requirements on the energy efficiency of electric vehicles. To reduce driving-wheel slip energy consumption while cornering, a torque vectoring control strategy for a rear-wheel independent-drive (RWID) electric vehicle is proposed. First, the longitudinal linear stiffness of each driving wheel is estimated by using the approach of recursive least squares. Then, an initial differential torque is calculated for reducing their overall tire slippage energy dissipation. However, before the differential torque is applied to the two side of driving wheels, an acceleration slip regulation (ASR) is introduced into the overall control strategy to avoid entering into the tire adhesion saturation region resulting in excessive slip. Finally, the simulations of typical manoeuvring conditions are performed to verify the veracity of the estimated tire longitudinal linear stiffness and effectiveness of the torque vectoring control strategy. As a result, the proposed torque vectoring control leads to the largest reduction of around 17% slip power consumption for the situations carried out above.

scholarly journals Nonlinear robust wheel slip rate tracking control for autonomous vehicle with actuator dynamics

2020 ◽  
Vol 12 (6) ◽  
pp. 168781402092522 ◽  
Author(s):  
Jiaxu Zhang ◽  
Shiying Zhou ◽  
Jian Zhao
Keyword(s):  
Neural Network ◽  
Control Strategy ◽  
Basis Function ◽  
Tracking Control ◽  
Autonomous Vehicle ◽  
Slip Rate ◽  
Control Law ◽  
Wheel Slip ◽  
Actuator Dynamics ◽  
Nonlinear Robust

This article presents a novel nonlinear robust wheel slip rate tracking control strategy for autonomous vehicle with actuator dynamics. First, a simple yet effective wheel slip rate dynamic model with the lumped uncertainty is established as the basis of the nonlinear robust wheel slip rate tracking control strategy design. Second, a nonlinear robust wheel slip rate tracking control law with lumped uncertainty observer is derived via the Lyapunov-based method. The lumped uncertainty observer is used to estimate and compensate the lumped uncertainty of the system by combining the radial basis function neural network with the adaptive laws for the unknown optimal weight vector of the radial basis function neural network. Then, a novel tracking differentiator is designed to calculate the derivative of the desired wheel slip rate, which is an essential aspect of the proposed nonlinear robust wheel slip rate tracking control law. Finally, the performance of the proposed control strategy is verified based on straight line braking maneuvers with three typical signals.

scholarly journals Robust adaptive control for continuous wheel slip rate tracking of vehicle with state observer

2020 ◽  
Vol 53 (7-8) ◽  
pp. 1331-1341
Author(s):  
Jiaxu Zhang ◽  
Zhengtang Shi ◽  
Xiong Yang ◽  
Jian Zhao
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Slip Rate ◽  
State Observer ◽  
Robust Adaptive Control ◽  
Wheel Slip ◽  
Fuzzy Uncertainty ◽  
Tracking Differentiator ◽  
Adaptive Laws ◽  
Robust Adaptive

This article proposes a novel robust adaptive wheel slip rate tracking control method with state observer. First, a modified tracking differentiator is proposed based on a combination of tangent sigmoid function with terminal attraction factor and linear function to improve convergence speed and avoid chattering phenomenon, and then, the modified tracking differentiator is used as state observer to smooth and estimate the states of the system. Second, a robust adaptive wheel slip rate tracking control law with fuzzy uncertainty observer and modified adaptive laws is derived based on Lyapunov-based method. The fuzzy uncertainty observer is used for estimating and compensating the additive uncertainty, and the modified adaptive laws are used for estimating the unknown optimal weight vector of the fuzzy uncertainty observer and the multiplicative uncertainty. Finally, the performance of the robust adaptive wheel slip rate tracking control method is verified based on the model-in-the-loop simulation system.

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