This paper proposes a nonlinear observer for Body Slip Angle (beta) estimation, in which a nonlinear tire model is adopted for the observer design. A newly developed method to identify parameters of road surface friction coefficient (my) is introduced into this observer, which makes the observer adaptive to road condition changing. Simulations and field test are conducted, where the feasibility of my identification and effectiveness of the observer are checked, especially for nonlinear cornering situations.
Nonlinear body slip angle observer for electric vehicle stability control
Nichtlinearer Rutschwinkelbeobachter für die Stabilitätsregelung von Elektroautos
2007
8 Seiten, 9 Bilder, 9 Quellen
Conference paper
English
VEHICLE BODY SIDE SLIP ANGLE OBSERVER
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