In this paper, control oriented rational tyre models have been developed and incorporated in the design of vehicle dynamics estimators and controllers. We have presented two rational tyre models already available in the literature and proposed a third generic tyre model as a generalisation of previously proposed control oriented rational models through an increased number of regression terms. All three models have been compared with the Magic Formula Tyre Model under varying operating conditions. This analysis has shown that RM2 is particularly suitable for vehicle dynamics control purposes whenever its parameters can be online scheduled. Moreover, it is observed that the newly proposed generic rational tyre model results in vehicle dynamic responses that closely follow those obtained with a Magic Formula tyre model for a range of driving scenarios. The usage of rational tyre models in the design of again-scheduled active front steering controller has been demonstrated in the second part of the paper where the vehicle system is expressed as a linear parameter varying system in the descriptor form. At this stage, it is noted that the reference vehicle model providing reference signals to the controller makes use of the road adhesion coefficient information and that the controller makes use of the vehicle body and tyre sideslip angles, which are all hardly measurable with in stock on board vehicle sensors. Hence, to enhance the applicability of the proposed vehicle control system, a nonlinear state and parameter estimator has been designed. This final step has clearly demonstrated the strength of the tyre models' selected structure as it allows for the estimation of the road adhesion coefficient through simple algebraic computations. Furthermore, this same structure enables parameter scheduling of the tyre model made use by the observer, thus permitting accurate estimation of vehicle states and parameters. To sum up, the developed rational tyre models (which all have much smaller sets of parameters compared to the Magic Formula) have been successfully used in achieving integrated vehicle control and estimation tasks; hence, they are promising candidates for usage in real-time vehicle control implementations. These models will also serve as the basis for prospective design of advanced active vehicle safety controllers in future studies. Especially, the adaptation of recently developed in-tyre force sensors to the vehicle dynamics control/ estimation architecture presented in the present paper will be investigated.
Development of rational tyre models for vehicle dynamics control design and combined vehicle state/parameter estimation
International Journal of Vehicle Design ; 65 , 2/3 ; 144-175
2014
32 Seiten, Bilder, Tabellen, Quellen
Aufsatz (Zeitschrift)
Englisch
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