吉林大学学报(工学版) ›› 2018, Vol. 48 ›› Issue (3): 845-852.doi: 10.13229/j.cnki.jdxbgxb20170069

• Orginal Article • Previous Articles     Next Articles

Estimation of side-slip angle of electric vehicle based on square-root unscented Kalman filter algorithm

TIAN Yan-tao1,2, ZHANG Yu1, WANG Xiao-yu1, CHEN Hua1   

  1. 1.College of Communication Engineering,Jilin University,Changchun 130022,China;
    2.Key Laboratory of Bionic Engineering,Ministry of Education,Jilin University,Changchun 130022,China
  • Received:2016-12-15 Online:2018-05-20 Published:2018-05-20

RICH HTML

0   

PDF (PC)

382

Abstract: The side-slip angle of electric vehicle can not be directly and conveniently measured by using sensors. To solve this problem, a Square-Root Unscented Kalman Filter (SR-UKF) algorithm was proposed to estimate the side-slip angle. First, the lateral dynamics model of the vehicle and the nonlinear dynamics model of the tire were established. Then, based on the models and the estimated side-slip angle, the cornering stiffness of the tire was estimated by using least square method. Experiments were carried out to verify the effectiveness of the algorithm in estimating the side-slip angle of electric vehicle. Results show that the proposed method has high precision and can provide effective vehicle state information for the design of the stability control system of the vehicle.

Key words: automatic control technology, estimation of side-slip angle, cornering stiffness of tire, square-root unscented Kalman filter(SR-UKF) algorithm, least square method

CLC Number: 

  • TP273
[1] 赵伟. 汽车动力学稳定性横摆力矩和主动转向联合控制策略的仿真研究[D]. 西安:长安大学汽车学院,2008.
Zhao Wei.Simulation research on combined control strategy of yaw moment and active steering for vehicle dynamic stability[D]. Xi'an: School of Automobile, Chang'an University,2008.
[2] Fu C,Hoseinnezhad R,Hadiashar A B,et al.Electric vehicle side-slip control via electronic differential[J]. International Journal of Vehicle Autonomous Systems,2015,13(1):1-26.
[3] Piyabongkarn D, Rajamani R, Grogg J,et al.Development and experimental evaluation of a slip angle estimator for vehicle stability control[J]. IEEE Transactions on Control Systems Technology,2009,17(1):78-88.
[4] Doumiati M,Victorino A C,Charara A,et al.Onboard realtime estimation of vehicle lateral tire-road forces and sideslip angle[J]. IEEE/ASME Transactions on Mechatronics,2011,16(4):601-614.
[5] Nguyen B M, Wang Y F, Fujimoto H, et al.Electric vehicle stability control based on disturbance accommodating Kalman filter using GPS[C]∥IEEE International Conference on Mechatronics,Takamatsu,Japan,2013:382-387.
[6] 宗长富,胡丹,杨肖,等. 基于扩展Kalman滤波的汽车行驶状态估计[J]. 吉林大学学报:工学版,2009,39(1):9-13.
Zong Chang-fu,Hu Dan,Yang Xiao,et al.Vehicle driving state estimation based on extended Kalman filter[J]. Journal of Jilin University (Engineering and Technology Edition),2009,39(1):9-13.
[7] 郭洪艳,陈虹,丁海涛,等. 基于Uni-Tire轮胎模型的车辆质心侧偏角估计[J]. 控制理论与应用,2010,27(9):1131-1139.
Guo Hong-yan,Chen Hong,Ding Hai-tao,et al.Vehicle side-slip angle estimation based on Uni-Tire model[J]. Control Theory&Applications,2010,27(9):1131-1139.
[8] 武冬梅,丁海涛,郭孔辉,等. 基于线性估计模型的电动汽车质心侧偏角估计[J]. 吉林大学学报:工学版,2014,44(4):901-906.
Wu Dong-mei,Ding Hai-tao,Guo Kong-hui,et al.Sideslip angle estimation based on linear estimation model for electric vehicle[J]. Journal of Jilin University (Engineering and Technology Edition),2014,44(4):901-906.
[9] 刘飞,熊璐,邬肖鹏,等. 车辆质心侧偏角估计算法设计与对比分析[J]. 同济大学学报:自然科学版,2015,43(3):448-455.
Liu Fei,Xiong Lu,Wu Xiao-peng,et al.Vehicle sideslip angle estimation and contrastive analysis[J]. Journal of Tongji University(Natural Science),2015,43(3):448-455.
[10] Nam K,Fujimoto H,Hori Y.Lateral stability control of in-wheel-motor-driven electric vehicles based on sideslip angle estimation using lateral tire force sensors[J]. IEEE Transactions on Vehicular Technology,2012,61(5):1972-1985.
[11] Pacejka H B,Bakker E.The magic formula tyre model[J]. Vehicle System Dynamics,1992,21(Sup.1):1-18.
[12] Jafarzadeh S,Lascu C,Fadali M S.Square root unscented Kalman filters for state estimation of induction motor drives[J]. IEEE Transactions on Industry Applications,2013,49(1):92-99.
[13] 贾瑞才. 重力/地磁辅助的欧拉角无迹卡尔曼滤波姿态估计[J]. 光学精密工程,2014,22(12):3280-3286.
Jia Rui-cai.Attitude estimation base on gravity/magnetic assisted Euler angle UKF[J]. Optics and Precision Engineering,2014,22(12):3280-3286.
[14] 李海涛,房建成. 自适应角速度估计器在磁悬浮控制力矩陀螺框架伺服系统中的应用[J]. 光学精密工程, 2008, 16(1):97-102.
Li Hai-tao,Fang Jian-cheng.Application of adaptive angle-rate estimator to gimbal of MGCMG[J]. Optics and Precision Engineering,2008,16(1):97-102.
[15] Tielking J T. A comparative evaluation of five tire traction models[J/OL].[2017-01-10]. https:∥deepblue.lib.umich.edu/bitstream/handle/2027.42/330/28983.0001.001.pdf?sequence=2.
[1] GU Wan-li,WANG Ping,HU Yun-feng,CAI Shuo,CHEN Hong. Nonlinear controller design of wheeled mobile robot with H∞ performance [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1811-1819.
[2] LI Zhan-dong,TAO Jian-guo,LUO Yang,SUN Hao,DING Liang,DENG Zong-quan. Design of thrust attachment underwater robot system in nuclear power station pool [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1820-1826.
[3] 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.
[4] YAN Dong-mei, ZHONG Hui, REN Li-li, WANG Ruo-lin, LI Hong-mei. Stability analysis of linear systems with interval time-varying delay [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1556-1562.
[5] ZHANG Shi-tao, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, TIAN Da-peng. Enhancing performance of FSM based on zero phase error tracking control [J]. 吉林大学学报(工学版), 2018, 48(3): 853-858.
[6] WANG Lin, WANG Hong-guang, SONG Yi-feng, PAN Xin-an, ZHANG Hong-zhi. Behavior planning of a suspension insulator cleaning robot for power transmission lines [J]. 吉林大学学报(工学版), 2018, 48(2): 518-525.
[7] HU Yun-feng, WANG Chang-yong, YU Shu-you, SUN Peng-yuan, CHEN Hong. Structure parameters optimization of common rail system for gasoline direct injection engine [J]. 吉林大学学报(工学版), 2018, 48(1): 236-244.
[8] ZHU Feng, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, ZHANG Shi-tao. Gyro signal processing based on strong tracking Kalman filter [J]. 吉林大学学报(工学版), 2017, 47(6): 1868-1875.
[9] JIN Chao-qiong, ZHANG Bao, LI Xian-tao, SHEN Shuai, ZHU Feng. Friction compensation strategy of photoelectric stabilized platform based on disturbance observer [J]. 吉林大学学报(工学版), 2017, 47(6): 1876-1885.
[10] FENG Jian-xin. Recursive robust filtering for uncertain systems with delayed measurements [J]. 吉林大学学报(工学版), 2017, 47(5): 1561-1567.
[11] XU Jin-kai, WANG Yu-tian, ZHANG Shi-zhong. Dynamic characteristics of a heavy duty parallel mechanism with actuation redundancy [J]. 吉林大学学报(工学版), 2017, 47(4): 1138-1143.
[12] HU Yun-feng, GU Wan-li, LIANG Yu, DU Le, YU Shu-you, CHEN Hong. Start-stop control of hybrid vehicle based on nonlinear method [J]. 吉林大学学报(工学版), 2017, 47(4): 1207-1216.
[13] SHEN Shuai, ZHANG Bao, LI Xian-tao, ZHU Feng, JIN Chao-qiong. Acceleration feedback control based on tracking differentiator [J]. 吉林大学学报(工学版), 2017, 47(4): 1217-1224.
[14] SHAO Ke-yong, CHEN Feng, WANG Ting-ting, WANG Ji-chi, ZHOU Li-peng. Full state based adaptive control of fractional order chaotic system without equilibrium point [J]. 吉林大学学报(工学版), 2017, 47(4): 1225-1230.
[15] WANG Chun-yang, XIN Rui-hao, SHI Hong-wei. Decreasing time delay auto-disturbance rejection control method for large time delay systems [J]. 吉林大学学报(工学版), 2017, 47(4): 1231-1237.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] HE Lei,ZONG Chang-fu,TIAN Cheng-wei,WU Ren-jun,Zhang Tai-wu. DC motor fault diagnosis and fault tolerance control method for steer-by-wire car[J]. 吉林大学学报(工学版), 2011, 41(03): 608 -612 .
[2] LIU Song-shan, WANG Qing-nian, WANG Wei-hua, LIN Xin. Influence of inertial mass on damping and amplitude-frequency characteristic of regenerative suspension[J]. 吉林大学学报(工学版), 2013, 43(03): 557 -563 .
[3] CHU Liang, WANG Yan-bo, QI Fu-wei, ZHANG Yong-sheng. Control method of inlet valves for brake pressure fine regulation[J]. 吉林大学学报(工学版), 2013, 43(03): 564 -570 .
[4] LI Jing, WANG Zi-han, YU Chun-xian, HAN Zuo-yue, SUN Bo-hua. Design of control system to follow vehicle state with HIL test beach[J]. 吉林大学学报(工学版), 2013, 43(03): 577 -583 .
[5] ZHU Jian-feng, LIN Yi, CHEN Xiao-kai, SHI Guo-biao. Structural topology optimization based design of automotive transmission housing structure[J]. 吉林大学学报(工学版), 2013, 43(03): 584 -589 .
[6] HU Xing-jun, LI Teng-fei, WANG Jing-yu, YANG Bo, GUO Peng, LIAO Lei. Numerical simulation of the influence of rear-end panels on the wake flow field of a heavy-duty truck[J]. 吉林大学学报(工学版), 2013, 43(03): 595 -601 .
[7] WANG Tong-jian, CHEN Jin-shi, ZHAO Feng, ZHAO Qing-bo, LIU Xin-hui, YUAN Hua-shan. Mechanical-hydraulic co-simulation and experiment of full hydraulic steering systems[J]. 吉林大学学报(工学版), 2013, 43(03): 607 -612 .
[8] ZHANG Chun-qin, JIANG Gui-yan, WU Zheng-yan. Factors influencing motor vehicle travel departure time choice behavior[J]. 吉林大学学报(工学版), 2013, 43(03): 626 -632 .
[9] MA Wan-jing, XIE Han-zhou. Integrated control of main-signal and pre-signal on approach of intersection with double stop line[J]. 吉林大学学报(工学版), 2013, 43(03): 633 -639 .
[10] YU De-xin, TONG Qian, YANG Zhao-sheng, GAO Peng. Forecast model of emergency traffic evacuation time under major disaster[J]. 吉林大学学报(工学版), 2013, 43(03): 654 -658 .
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