Side-slip angle estimation for vehicle Electronic Stability Control based on sliding mode observer

2012 ◽  
Author(s):  
Wei Liu ◽  
Wenying Liu ◽  
Haitao Ding ◽  
Konghui Guo
Keyword(s):  
Sliding Mode ◽  
Stability Control ◽  
Sliding Mode Observer ◽  
Electronic Stability Control ◽  
Slip Angle ◽  
Angle Estimation ◽  
Side Slip Angle

A comparison on optimal torque vectoring strategies in overall performance enhancement of a passenger car

2016 ◽  
Vol 230 (4) ◽  
pp. 469-488 ◽  
Author(s):  
Seyed Mohammad Mehdi Jaafari ◽  
Kourosh Heidari Shirazi
Keyword(s):  
Fuel Consumption ◽  
Ride Comfort ◽  
Stability Control ◽  
Electronic Stability Control ◽  
Slip Angle ◽  
Vehicle Model ◽  
Side Slip Angle ◽  
Wheel Drive ◽  
Torque Vectoring ◽  
Four Wheel Drive

In this paper, a comparison is made on different torque vectoring strategies to find the best strategy in terms of improving handling, fuel consumption, stability and ride comfort performances. The torque vectoring differential strategies include superposition clutch, stationary clutch, four-wheel drive and electronic stability control. The torque vectoring differentials are implemented on an eight-DOF vehicle model and controlled using optimized fuzzy-based controllers. The vehicle model assisted with the Pacejka tyre model, an eight-cylinder dynamic model for engine, and a five-speed transmission system. Bee’s Algorithm is employed to optimize the fuzzy controller to ensure each torque vectoring differential works in its best state. The controller actuates the electronic clutches of the torque vectoring differential to minimize the yaw rate error and limiting the side-slip angle in stability region. To estimate side-slip angle and cornering stiffness, a combined observer is designed based on full order observer and recursive least square method. To validate the results, a realistic car model is built in Carsim package. The final model is tested using a co-simulation between Matlab and Carsim. According to the results, the torque vectoring differential shows better handling compared to electronic stability control, while electronic stability control is more effective in improving the stability in critical situation. Among the torque vectoring differential strategies, stationary clutch in handling and four-wheel drive in fuel consumption as well as ride comfort have better operation and more enhancements.

Vehicle side-slip angle estimation on a banked and low-friction road

2017 ◽  
Vol 232 (12) ◽  
pp. 1584-1596 ◽  
Author(s):  
Martin Haudum ◽  
Johannes Edelmann ◽  
Manfred Plöchl ◽  
Manuel Höll
Keyword(s):  
Vehicle Dynamics ◽  
Stability Control ◽  
Velocity Estimation ◽  
Slip Angle ◽  
State Variables ◽  
Low Friction ◽  
Bank Angle ◽  
Angle Estimation ◽  
Side Slip Angle ◽  
Handling Characteristics

The effective application of integrated vehicle dynamics control and automatic driving require consistent vehicle state variables and parameters. Considering lateral vehicle dynamics, the yaw rate and (estimated) vehicle side-slip angle are the minimum set of state variables that can give insight into the handling characteristics of a vehicle. Various methods of vehicle side-slip angle (lateral velocity) estimation have been tested in virtual and real world applications, in particular on a horizontal dry road. Vehicle side-slip angle, however, is not only affected by the (steering) commands of the driver, and possibly by a vehicle dynamics controller, but can also arise from a banked road or result from a low-friction surface, changing tyre–road contact. The combined effects require a comprehensive estimation approach, which is less often touched upon in the literature. Based on earlier findings on important aspects of observability, the paper addresses a modular vehicle side-slip angle estimation approach that is particularly focused upon practical aspects of modelling and design. Estimation of the combined vehicle side-slip angle, road bank angle and maximum tyre–road friction coefficient has been broadly tested with a vehicle equipped with an electronic stability control (ESC) and electric power-assisted steering (EPS) sensor configuration, for various road conditions, driving situations and vehicle/tyre setups.

scholarly journals Non-linear tyre model–based non-singular terminal sliding mode observer for vehicle velocity and side-slip angle estimation

2018 ◽  
Vol 233 (1) ◽  
pp. 38-54 ◽  
Author(s):  
Boyuan Li ◽  
Haiping Du ◽  
Weihua Li ◽  
Bangji Zhang
Keyword(s):  
Control System ◽  
Sliding Mode ◽  
Sliding Mode Observer ◽  
Slip Angle ◽  
Linear Estimator ◽  
Terminal Sliding Mode ◽  
Tyre Model ◽  
Side Slip Angle ◽  
Vehicle Velocity ◽  
Non Linear

Vehicle velocity and side-slip angle are important vehicle states for the electronic stability programme and traction control system in vehicle safety control system and for the control allocation method of electric vehicles with in-wheel motors. This paper proposes an innovative side-slip angle estimator based on the non-linear Dugoff tyre model and non-singular terminal sliding mode observer. The proposed estimation method based on the non-linear tyre model can accurately present the tyre’s non-linear characteristics and can show advantages over estimation methods based on the linear tyre model. The utilised Dugoff tyre model has a relatively simple structure with few parameters, and the proposed non-linear observer can be applied in various vehicle tyres and various road conditions. Precise determination of the Dugoff tyre model parameters is not required and the proposed observer can still perform good estimation results even though tyre parameters and the tyre–road friction coefficient are not accurate. The proposed non-singular terminal sliding mode observer can achieve fast convergence rate and better estimation performance than the traditional sliding mode observer. At the end of this paper, simulations in various conditions are presented to validate the proposed non-linear estimator.

Slip parameter estimation of a single wheel using a non-linear observer

Robotica ◽  
2008 ◽  
Vol 27 (6) ◽  
pp. 801-811 ◽  
Author(s):  
Z. B. Song ◽  
L. D. Seneviratne ◽  
K. Althoefer ◽  
X. J. Song ◽  
Y. H. Zweiri
Keyword(s):  
Sliding Mode ◽  
Kinematic Model ◽  
Variable Structure ◽  
Lyapunov Stability Theory ◽  
Sliding Mode Observer ◽  
Slip Angle ◽  
Wheel Slip ◽  
Variable Structure System ◽  
Non Linear ◽  
Linear Observer

SUMMARYSliding mode observer is a variable structure system where the dynamics of a nonlinear system is altered via application of a high-frequency switching control. This paper presents a non-linear sliding mode observer for wheel linear slip and slip angle estimation of a single wheel based on its kinematic model and velocity measurements with added noise to simulate actual on-board sensor measurements. Lyapunov stability theory is used to establish the stability conditions for the observer. It is shown that the observer will converge in a finite time, provided the observer gains satisfy constraints based on a stability analysis. To validate the observer, linear and two-dimensional (2D) test rigs are specially designed. The sliding mode observer is tested under a variety of conditions and it is shown that the sliding mode observer can estimate wheel slip and slip angle to a high accuracy. It is also shown that the sliding mode observer can accurately predict wheel slip and slip angle in the presence of noise, by testing the performance of the sliding mode observer after adding white noise to the measurements. An extended Kalman filter is also developed for comparison purposes. The sliding mode observer is better in terms of prediction accuracy.

scholarly journals Sliding Mode Observer-Based Load Angle Estimation for Salient-Pole Wound Rotor Synchronous Generators

Energies ◽  
2019 ◽  
Vol 12 (9) ◽  
pp. 1609 ◽  
Author(s):  
Nikola Lopac ◽  
Neven Bulic ◽  
Niksa Vrkic
Keyword(s):  
Power System ◽  
Sliding Mode ◽  
Synchronous Generator ◽  
Absolute Error ◽  
Sliding Mode Observer ◽  
Adaptive Observer ◽  
System Stability ◽  
Angle Estimation ◽  
Salient Pole ◽  
Load Angle

Synchronous generator load angle is a fundamental quantity for power system stability assessment, with possible real-time applications in protection and excitation control systems. Commonly used methods of load angle determination require additional measuring equipment, while existing research on load angle estimation for wound rotor synchronous generator has been limited to the estimator based on the generator’s phasor diagram and estimators based on artificial neural networks. In this paper, a load angle estimator for salient-pole wound rotor synchronous generator, based on a simple sliding mode observer (SMO) which utilizes field current, stator voltages, and stator currents measurements, is proposed. The conventional SMO structure is improved with use of hyperbolic tangent sigmoid functions, implementation of the second order low-pass filters accompanied with corresponding phase delay compensation, and introduction of an adaptive observer gain proportional to the measured field current value. Several case studies conducted on a generator connected to a power system suggest that the proposed estimator provides an adequate accuracy during active and reactive power disturbances during stable generator operation, outperforming the classical phasor diagram-based estimator by reducing mean squared error by up to 14.10%, mean absolute error by up to 41.55%, and maximum absolute error by up to 8.81%.

A DVS-MHE Approach to Vehicle Side-Slip Angle Estimation

2014 ◽  
Vol 22 (5) ◽  
pp. 2048-2055 ◽  
Author(s):  
Massimo Canale ◽  
Lorenzo Fagiano ◽  
Carlo Novara
Keyword(s):  
Slip Angle ◽  
Angle Estimation ◽  
Side Slip Angle
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