吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (2): 333-339.doi: 10.13229/j.cnki.jdxbgxb201602001

• Orginal Article •     Next Articles

State estimation of electric vehicle with in-wheel motors based on UKF

SONG Chuan-xue1, XIAO Feng1, LIU Si-han2, LI Shao-kun1, DUAN Liang1, PENG Si-lun1   

  1. 1.State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China;
    2.College of Mechanical Science and Engineering, Jilin University, Changchun 130022, China
  • Received:2014-09-22 Online:2016-02-20 Published:2016-02-20

RICH HTML

0   

PDF (PC)

1265

Abstract: For four-wheel independently drive in-wheel motors electric vehicle, the dynamic control systems, such as direct yaw moment control, can be easily achieved. Accurate estimation of vehicle state variables and uncertain parameters can improve the robustness of the vehicle dynamic control system. Various sensors are generally equipped to acquire the vehicle dynamics. For both technical and economic reasons, some fundamental vehicle parameters, such as the sideslip angle and tire-road forces can hardly be obtained directly by sensors. Therefore, a state observer is developed to estimate these parameters based on Unscented Kalman Filter (UKF). In addition, a nonlinear dynamics tire model is utilized to improve the accuracy of tire lateral force estimation. Compared to the reference model built in AMEsim, the simulation results show that the proposed observer can provide the precision values of the vehicle state.

Key words: vehicle engineering, in-wheel-motor vehicle, state estimation, unscented kalman filter

CLC Number: 

  • U461
[1] Hori Y. Future vehicle driven by electricity and control-research on four-wheel-motored "UOT Electric March II"[J]. IEEE Transactions on Industrial Electronics,2004, 51(5): 954-962.
[2] Sakai S, Hori Y. Advanced motion control of electric vehicle with fast minor feedback loops: basic experiments using the 4-wheel motored EV "UOT Electric March II"[J]. JSAE Review,2001, 22(4): 527-536.
[3] 李刚,宗长富,陈国迎,等. 线控转向四轮独立驱动电动车的AFS/DYC集成控制[J]. 华南理工大学学报:自然科学版,2012,40(3):150-155.
Li Gang,Zong Chang-fu,Chen Guo-ying,et al. Integrated AFS/DYC control of steering-by-wire 4WID electric vehicle[J]. Journal of South China University of Technology (Natural Science Edition),2012,40(3):150-155.
[4] He P, Hori Y.Resolving actuamr redundancy for 4WD electric vehicle bysequential quadratic optimum method[DB/OL].[2013-12-16]. http://www.hori.k.u-tokyo.ac.jp/hori_lab/paper_2009/old-papers/ka/hukui_ka.pdf.
[5] Wenzel T A, Burnham K J, Blundell M V. Dual extended Kalman filter for vehicle state and parameter estimation[J]. Vehicle System Dynamics, 2006, 44(2): 153-171.
[6] Kim J. Identification of lateral tyre force dynamics using an extended Kalman filter from experimental road test data[J]. Control Engineering ,2009, 17(3): 357-367.
[7] Julier S J,Uhlmann J K. A new extension of the kalman filter to nonlinear systems[C]//Proceedings of the International Symposium on Aerospace/Defense Sensing,Simulation and Controls,Orlando,Florida,USA,1997:182-193.
[8] Doumiati M, Victorino A, Charara A, et al. Estimation of vehicle lateral tire-road forces: a comparison between extended and unscented kalman filtering[C]//European Control Conference, Budapest, Hungary, 2009:4804-4809.
[9] 解少博,林程. 基于无迹卡尔曼滤波的车辆状态与参数估计[J]. 农业机械学报,2011,42(12):6-12.
Xie Shao-bo,Lin Cheng.State and parameters estimation of vehicle based on UKF[J]. Transactions of the Chinese Society for Agricultural Machinery, 2011,42(12):6-12.
[10] 邓永停, 李洪文, 王建立, 等. 基于卡尔曼滤波器的交流伺服系统自适应滑模控制[J]. 光学精密工程, 2014, 22(8): 2088-2095.
Deng Yong-ting, Li Hong-wen, Wang Jian-li, et al. Adaptive sliding mode control for AC servo system based on Kalman filter[J]. Optics and Precision Engineering, 2014, 22(8): 2088-2095.
[11] Pacejka H B. Tire and Vehicle Dynamics[M]. Oxford :Elsevier, 2012:172-215.
[12] Dugoff H, Fanches P, Segel L. An analysis of tire properties and their influence on vehicle dynamic performance[C]//SAE Paper, 1970.
[13] Gillespie T D. Fundamental of vehicle dynamics[C]//SAE Paper, 1992.
[14] Rajamani R. Vehicle Dynamics and Control[M]. Berlin, Germany: Springer-Verlag, 2005:389-393.
[1] CHANG Cheng,SONG Chuan-xue,ZHANG Ya-ge,SHAO Yu-long,ZHOU Fang. Minimizing inverter capacity of doubly-fed machine driving electric vehicles [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1629-1635.
[2] XI Li-he,ZHANG Xin,SUN Chuan-yang,WANG Ze-xing,JIANG Tao. Adaptive energy management strategy for extended range electric vehicle [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1636-1644.
[3] HE Ren,YANG Liu,HU Dong-hai. Design and analysis of refrigeration system supplied by solar auxiliary power of refrigerator car [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1645-1652.
[4] NA Jing-xin,MU Wen-long,FAN Yi-sa,TAN Wei,YANG Jia-zhou. Effect of hygrothermal aging on steel-aluminum adhesive joints for automotive applications [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1653-1660.
[5] LIU Yu-mei,LIU Li,CAO Xiao-ning,XIONG Ming-ye,ZHUANG Jiao-jiao. Construction on collision avoidance model of bogie dynamic simulation test bench [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1661-1668.
[6] ZHAO Wei-qiang, GAO Ke, WANG Wen-bin. Prevention of instability control of commercial vehicle based on electric-hydraulic coupling steering system [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1305-1312.
[7] SONG Da-feng, WU Xi-tao, ZENG Xiao-hua, YANG Nan-nan, LI Wen-yuan. Life cycle cost analysis of mild hybrid heavy truck based on theoretical fuel consumption model [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1313-1323.
[8] ZHU Jian-feng, ZHANG Jun-yuan, CHEN Xiao-kai, HONG Guang-hui, SONG Zheng-chao, CAO Jie. Design modification for automotive body structure based on seat pull safety performance [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1324-1330.
[9] NA Jing-xin, PU Lei-xin, FAN Yi-sa, SHEN Chuan-liang. Effect of temperature and humidity on the failure strength of Sikaflex-265 aluminum adhesive joints [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1331-1338.
[10] WANG Yan, GAO Qing, WANG Guo-hua, ZHANG Tian-shi, YUAN Meng. Simulation of mixed inner air-flow integrated thermal management with temperature uniformity of Li-ion battery [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1339-1348.
[11] JIN Li-sheng, XIE Xian-yi, GAO Lin-lin, GUO Bai-cang. Distributed electric vehicle stability control based on quadratic programming [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1349-1359.
[12] KUI Hai-lin, BAO Cui-zhu, LI Hong-xue, LI Ming-da. Idling time prediction method based on least square support vector machine [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1360-1365.
[13] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[14] HU Man-jiang, LUO Yu-gong, CHEN Long, LI Ke-qiang. Vehicle mass estimation based on longitudinal frequency response characteristics [J]. 吉林大学学报(工学版), 2018, 48(4): 977-983.
[15] LIU Guo-zheng, SHI Wen-ku, Chen Zhi-yong. Finite element analysis of transmission error for hypoid gears considering installation error [J]. 吉林大学学报(工学版), 2018, 48(4): 984-989.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd