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Sideslip angle estimation of in-wheel motor drive electric vehicles by cascaded multi-Kalman filters and modified tire model

Long Chen Te Chen Xing Xu Yingfeng Cai Haobin Jiang Xiaoqiang Sun
Metrology and Measurement Systems | 2019 | vol. 26 | No 1 | 185-208 | DOI: 10.24425/mms.2019.126329
Keywords distributed drive electric vehicle Kalman filter error compensation sideslip angle
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Abstract

Reliable estimation of longitudinal force and sideslip angle is essential for vehicle stability and active safety control. This paper presents a novel longitudinal force and sideslip angle estimation method for four-wheel independent-drive electric vehicles in which the cascaded multi-Kalman filters are applied. Also, a modified tire model is proposed to improve the accuracy and reliability of sideslip angle estimation. In the design of longitudinal force observer, considering that the longitudinal force is the unknown input of the electric driving wheel model, an expanded electric driving wheel model is presented and the longitudinal force is obtained by a strong tracking filter. Based on the longitudinal force observer, taking into consideration uncertain interferences of the vehicle dynamic model, a sideslip angle estimation method is designed using the robust Kalman filter and a novel modified tire model is proposed to correct the original tire model using the estimation results of longitudinal tire forces. Simulations and experiments were carried out, and effectiveness of the proposed estimation method was verified.

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Authors and Affiliations

Long Chen
Te Chen
Xing Xu
Yingfeng Cai
Haobin Jiang
Xiaoqiang Sun

NFTSM control of direct yaw moment for autonomous electric vehicles with consideration of tire nonlinear mechanical properties

Xiaoqiang Sun Yujun Wang Yingfeng Cai Pak Kin Wong Long Chen
Bulletin of the Polish Academy of Sciences Technical Sciences | 2021 | 69 | 3 | e137065 | DOI: 10.24425/bpasts.2021.137065
Keywords autonomous electric vehicles direct yaw moment control (DYC) tire nonlinear mechanical properties nonsingular fast terminal sliding mode (NFTSM) trust-region interior-point method
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Abstract

To improve the curve driving stability and safety under critical maneuvers for four-wheel-independent drive autonomous electric vehicles, a three-stage direct yaw moment control (DYC) strategy design procedure is proposed in this work. The first stage conducts the modeling of the tire nonlinear mechanical properties, i.e. the coupling relationship between the tire longitudinal force and the tire lateral force, which is crucial for the DYC strategy design, in the STI (Systems Technologies Inc.) form based on experimental data. On this basis, a 7-DOF vehicle dynamics model is established and the direct yaw moment calculation problem of the four-wheel-independent drive autonomous electric vehicle is solved through the nonsingular fast terminal sliding mode (NFTSM) control method, thus the optimal direct yaw moment can be obtained. To achieve this direct yaw moment, an optimal allocation problem of the tire forces is further solved by using the trust-region interior-point method, which can effectively guarantee the solving efficiency of complex optimization problem like the tire driving and braking forces allocation of four wheels in this work. Finally, the effectiveness of the DYC strategy proposed for the autonomous electric vehicles is verified through the CarSim-Simulink co-simulation results.
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Authors and Affiliations

Xiaoqiang Sun
1 2
Yujun Wang
1
Yingfeng Cai
1
Pak Kin Wong
3
Long Chen
2
ORCID: ORCID
  1. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang Jiangsu, China
  2. State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China
  3. Department of Electromechanical Engineering, University of Macau, Taipa, Macau

Research on hybrid modeling and predictive energy management for power split hybrid electric vehicle

Shaohua Wang Sheng Zhang Dehua Shi Xiaoqiang Sun Tao Yang
Bulletin of the Polish Academy of Sciences Technical Sciences | 2021 | 69 | 3 | e137064 | DOI: 10.24425/bpasts.2021.137064
Keywords power split HEV energy management mixed logical dynamical model piecewise affine model predictive control
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Abstract

Due to the coexistence of continuity and discreteness, energy management of a multi-mode power split hybrid electric vehicle (HEV) can be considered a typical hybrid system. Therefore, the hybrid system theory is applied to investigate the optimum energy distribution strategy of a power split multi-mode HEV. In order to obtain a unified description of the continuous/discrete dynamics, including both the steady power distribution process and mode switching behaviors, mixed logical dynamical (MLD) modeling is adopted to build the control-oriented model. Moreover, linear piecewise affine (PWA) technology is applied to deal with nonlinear characteristics in MLD modeling. The MLD model is finally obtained through a high level modeling language, i.e. HYSDEL. Based on the MLD model, hybrid model predictive control (HMPC) strategy is proposed, where a mixed integer quadratic programming (MIQP) problem is constructed for optimum power distribution. Simulation studies under different driving cycles demonstrate that the proposed control strategy can have a superior control effect as compared with the rule-based control strategy.
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Authors and Affiliations

Shaohua Wang
1
Sheng Zhang
1
Dehua Shi
1 2 3
Xiaoqiang Sun
1
Tao Yang
3
ORCID: ORCID
  1. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China
  2. Vehicle Measurement, Control and Safety Key Laboratory of Sichuan Province, Xihua University, Chengdu 610039, China
  3. Jiangsu Chunlan Clean Energy Research Institute Co., Ltd., Taizhou 225300, China

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