Payload Parameter Real-Time Estimation for Lightweight Vehicles

2011 ◽  
Author(s):  
Xiaoyu Huang ◽  
Junmin Wang
Keyword(s):  
Real Time ◽  
Estimation Method ◽  
Load Condition ◽  
Time Estimation ◽  
Torque Control ◽  
Recursive Least Squares ◽  
The Road ◽  
Dynamics And Control ◽  
Real Time Estimation ◽  
Tire Forces

This paper proposes a payload parameter estimation method for lightweight vehicles (LWVs), whose dynamics and control are substantially affected by their payload variations due to the LWVs’ significantly reduced sizes and weights. Accurate and real-time estimation of payload parameters, including payload mass and its onboard planar location, will be helpful for controller designs and load condition monitoring. The proposed payload parameter estimator (PPE) is divided into two parts: tire nominal normal force estimator (NNFE) based on a recursive least squares (RLS) algorithm using signals measured from LWV constant speed maneuvers, and parameter calculator based on estimated nominal normal forces. The prototype LWV is an electric ground vehicle with separable torque control of the four wheels by in-wheel motors, which allow redundant input injections in the designed maneuvers. Simulation results, based on a CarSim® model, show that the proposed PPE is capable of accurately and quickly estimating payload parameters, and is independent of the road condition as long as the tire forces are kept within their linear ranges.

Longitudinal Motion Based Lightweight Vehicle Payload Parameter Real-Time Estimations

2012 ◽  
Vol 135 (1) ◽  
Author(s):  
Xiaoyu Huang ◽  
Junmin Wang
Keyword(s):  
Real Time ◽  
Estimation Method ◽  
Time Estimation ◽  
Location Estimation ◽  
Torque Control ◽  
Recursive Least Squares ◽  
Longitudinal Motion ◽  
Unknown Parameters ◽  
Payload Mass ◽  
Planar Location

This paper proposes a longitudinal motion based payload parameter estimator (PPE) design for four-wheel-independently driven lightweight vehicles (LWVs), whose dynamics and control are substantially affected by their payload variations due to the LWVs' significantly reduced sizes and weights. Accurate and real-time estimation of payload parameters, including payload mass and its onboard planar location, will be helpful for LWV control (particularly under challenging driving conditions) and load monitoring. The proposed estimation method consists of three steps in sequential: tire effective radius identification for undriven wheels at constant speed driving; payload mass estimation during acceleration–deceleration period; and payload planar location estimation (PPLE). The PPLE is divided into two parts: a tire nominal normal force estimator (NNFE) based on a recursive least squares algorithm using signals generated by the redundant inputs, and a parameter calculator combining these estimated nominal normal forces. The prototype LWV is a lightweight electric ground vehicle (EGV) with separable torque control of the four wheels enabled by four in-wheel motors, which allow redundant input injections in the designed maneuvers. Experimental results obtained on an EGV road test show that the proposed PPE is capable of accurately estimating payload parameters, and it is independent of other unknown parameters such as tire-road friction coefficient.

A Study of Control Methods for the Braking System on Passenger Multiple Units

2004 ◽  
Author(s):  
Masanobu Nankyo
Keyword(s):  
Real Time ◽  
Control Method ◽  
Estimation Method ◽  
Time Estimation ◽  
Brake System ◽  
Friction Forces ◽  
Brake Shoe ◽  
Non Linear ◽  
Linear Elements ◽  
Real Time Estimation

As well known, the mechanical (friction, pneumatic) brake system on trains contains some non-linear elements. So it has been difficult to control the speed or acceleration of trains according to desired patterns. This paper reviews our research on the control method of the physical performance of train running such as acceleration (deceleration) by mechanical braking devices. One of our approaches is the introduction of the feedback control into the brake control system. Mathematical models of non-linear elements in the brake system and some effective methods of controller design are proposed with both simulation and experimental results. Another approach is the real time estimation of the friction forces between a brake shoe and a wheel tread. Friction has severe non-linearity; however it can not be measured easily on running trains. We propose the introduction of the onboard real-time estimation method of friction coefficients using the speed information which can be obtained easily in the existing brake system.

scholarly journals Online Real-Time Estimation of Response Time for Periodic Messages in Controller Area Networks

2015 ◽  
Vol 2015 ◽  
pp. 1-13
Author(s):  
Dahui Gao ◽  
Qingfeng Wang ◽  
Yong Lei ◽  
Zheng Chen ◽  
Linying Shangguan
Keyword(s):  
Response Time ◽  
Real Time ◽  
Networked Control Systems ◽  
Estimation Method ◽  
Time Estimation ◽  
Hybrid Vehicles ◽  
Delay Compensation ◽  
Controller Area Networks ◽  
Additional Equipment ◽  
Real Time Estimation

The Controller Area Networks (CAN) are widely used in industrial Networked Control Systems (NCSs), such as construction machineries, hybrid vehicles, robotics, and other applications. The message response time (MRT) or communication delay is the main issue to degrade the performance of CAN-based NCSs since its exact value is time-varying and unpredictable. The online acquisition of exact MRT can be quite helpful for the delay compensation of NCSs. However, since the clocks on different nodes are asynchronous, the MRT acquisition in CAN is a challenging work. The current delay acquisition methods for asynchronous systems are not suitable for the delay compensation in CAN-based NCSs because they either increase the bus load of CAN or cannot acquire the exact MRT in real time. In this paper, we propose a novel online real-time MRT estimation method for periodic CAN messages based on the analysis of message traces on CAN bus. The proposed method can estimate the exact MRT of the received message instance in real time without increasing the bus load and can be conveniently embedded into the CAN nodes without requiring additional equipment. In order to validate the proposed method, practical experiments are carried out and the experimental results show that the proposed method can effectively estimate the exact MRT of periodic CAN messages.

scholarly journals Real-time estimation and prediction of tire forces using digital map for driving risk assessment

2019 ◽  
Vol 107 ◽  
pp. 463-489 ◽  
Author(s):  
Kun Jiang ◽  
Diange Yang ◽  
Shichao Xie ◽  
Zhongyang Xiao ◽  
Alessandro Corrêa Victorino ◽  
...  
Keyword(s):  
Risk Assessment ◽  
Real Time ◽  
Time Estimation ◽  
Digital Map ◽  
Estimation And Prediction ◽  
Driving Risk ◽  
Real Time Estimation ◽  
Tire Forces

Study of Vehicle Sideslip Angle Real-Time Estimation Method

2013 ◽  
Vol 846-847 ◽  
pp. 26-29
Author(s):  
Xiao Bin Fan ◽  
Pan Deng
Keyword(s):  
Real Time ◽  
Estimation Method ◽  
Time Estimation ◽  
Stability Control ◽  
Estimation Methods ◽  
Estimation Accuracy ◽  
Slip Angle ◽  
Sideslip Angle ◽  
Direct Integration Method ◽  
Real Time Estimation

In the vehicle stability control and other active safety systems, vehicle sideslip angle real-time estimation is necessary. However, the direct measurement of sideslip angle is more difficult or too costly, so it is often used in estimating methods. The vehicle sideslip angle of closed-loop Luenberger observer and Kalman observer were constructed based on two degrees of freedom bicycle model, as well as the direct integration method for large sideslip angle conditions. The comparative study showed that Kalman filtering estimation method and Luenberger estimation methods have better estimation accuracy in small slip angle range.

scholarly journals Real-time estimation method of roll angle based on least squares recursion

2020 ◽  
Vol 306 ◽  
pp. 05002
Author(s):  
Chen Jingsheng ◽  
Li Chuanjun ◽  
Hu Peisen
Keyword(s):  
Least Squares ◽  
Real Time ◽  
Least Squares Method ◽  
Estimation Method ◽  
Time Estimation ◽  
Calculation Procedure ◽  
Roll Angle ◽  
Angle Estimation ◽  
Real Time Estimation ◽  
High Dynamic

The rotary missile stands a high overload during the launch and has to be powered up after launch, so it is necessary to achieve inflight alignment under high dynamic conditions. As a key technology of inflight alignment, the measurement method of roll angle has attracted more and more attention from researchers. The rotational speed of the rotary missile is very high, and most MIMUs cannot directly measure the roll angle. To solve this problem, this paper proposes a roll angle estimation method based on least squares method, analyzes its principle and derives the calculation procedure. Then on this basis, the roll angle estimation method based on least squares recursion is studied. The principle and calculation procedure of this method are deduced in detail. At last, the simulation experiment on MATLAB is carried out. The results show that this method is simple in calculation, high in accuracy and good in real-time performance, and has great application value.

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