吉林大学学报(工学版) ›› 2014, Vol. 44 ›› Issue (2): 296-304.doi: 10.13229/j.cnki.jdxbgxb201402004

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Design of cascaded vehicle velocity observer based on randomized algorithms

GUO Hong-yan1,2, CHEN Hong1,2, GAO Zhen-hai1, YU Hai-yang2, JI Yan2   

  1. 1. State Key Laboratory of Automobile Simulation and Control, Jilin University, Changchun 130022, China;
    2. College of Communication Engineering, Jilin University, Changchun 130022, China
  • Received:2013-02-26 Online:2014-02-01 Published:2014-02-01

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Abstract:

In order to reduce the computational cost of complex tyre model, the vehicle dynamics description is obtained based on the mixed data/physics tyre model and the mixed model is validated. Then, the nonlinear cascaded observer is designed using the modular estimation scheme. The selections of parameters and gain of the cascaded observer are discussed using randomized algorithm. For the sake of verifying the estimation results of the vehicle velocities, simulations are carried out under the normal and critical running conditions. The estimation results are compared with the nonlinear reduced-order observer and with the high precision vehicle dynamic model. The simulation results show that the observer parameters and gains obtained from the randomized algorithm are good estimations. Moreover, faster computation speed could be received using data/physics modeling method.

Key words: vehicle engineering, cascaded observer, randomized algorithm, data/physics modeling

CLC Number: 

  • TP29

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