期刊
SENSORS
卷 18, 期 4, 页码 -出版社
MDPI
DOI: 10.3390/s18041268
关键词
distributed drive electric vehicle; state estimation; longitudinal force; sideslip angle; observer iteration
资金
- National Natural Science Foundation of China [U1664258, U1564201]
- Six Major Talent Project of Jiangsu Province [2014-JXQC-004]
- 333 Project of Jiangsu Province [BRA2016445]
- Primary Research & Development Plan of Jiangsu Province [BE 2017129, BE2016149]
- Natural Science Foundation of Jiangsu Province [BK 20160525]
Exact estimation of longitudinal force and sideslip angle is important for lateral stability and path-following control of four-wheel independent driven electric vehicle. This paper presents an effective method for longitudinal force and sideslip angle estimation by observer iteration and information fusion for four-wheel independent drive electric vehicles. The electric driving wheel model is introduced into the vehicle modeling process and used for longitudinal force estimation, the longitudinal force reconstruction equation is obtained via model decoupling, the a Luenberger observer and high-order sliding mode observer are united for longitudinal force observer design, and the Kalman filter is applied to restrain the influence of noise. Via the estimated longitudinal force, an estimation strategy is then proposed based on observer iteration and information fusion, in which the Luenberger observer is applied to achieve the transcendental estimation utilizing less sensor measurements, the extended Kalman filter is used for a posteriori estimation with higher accuracy, and a fuzzy weight controller is used to enhance the adaptive ability of observer system. Simulations and experiments are carried out, and the effectiveness of proposed estimation method is verified.
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