In vehicle control, estimators are used to obtain information about signals that are too dificult or too expensive to measure directly by sensors. An example is the body slip angle, which could only be measurable by very costly optical sensors. These estimators comprise of a (simplified) model of the plant, combined with a feedback component. In a vehicle, many parameters, such as the sprung mass, are not fixed and can vary over a large and specified range. Vehicle control has to be able to cope with these potentially large parameter variations in the system. This paper deals with an algorithm, used to control the body slip angle. An estimator, part of the control, is used to obtain non-measurable signals. Whereas the vehicle parameters are uncertain, the estimator comprises of a vehicle model with fixed parameters. The objective is to find these nominal parameters, that guarantee optimal performance and stability in the complete parameter space of the vehicle. This requirement is defined in mathematics as an optimisation task. Even considering only the simple linear case, the problem very soon reaches such a complexity that it demands computational support. Nonlinear influences such as the tyre characteristics and weighting functions make analytical solutions either impossible or too restrictive for the design engineer. Interesting aspects for further research might be the transformation of parameter probabilities into error probabilities or an investigation into how many of these uncertain parameters can be estimated in the disturbance calculation without reducing the control robustness.
Robustness aspects in the design of a vehicle state estimator
Aspekte der Stabilität beim Entwurf einer Fahrzeugzustand-Schätzfunktion
2006
6 Seiten, 4 Bilder, 5 Quellen
Aufsatz (Konferenz)
Englisch
Schätzfunktion , Anwendung im Fahrzeugbau , Robustheit , Algorithmus , theoretisches Modell , Produktentwurf , Systemoptimierung , Regelkreis , Regelungstheorie , Kraftfahrzeug , Fahrzeuglenkung , Fahrzeugführung , Rechnersimulation , Kraftfahrzeugelektronik , Parameterschätzung , Steuerungs- und Regelungssystem
Robustness aspects in the design of a vehicle state estimator
British Library Conference Proceedings | 2006
|Robustness aspects in the design of a vehicle state estimator
Taylor & Francis Verlag | 2006
|Robustness aspects in the design of a vehicle state estimator
Kraftfahrwesen | 2006
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