Journal of Electrical Engineering and Technology

  • 제8권4호
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  • Pages.899-910
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  • 2013
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  • 1975-0102(pISSN)
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  • 2093-7423(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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Lateral Stability Control of Electric Vehicle Based On Disturbance Accommodating Kalman Filter using the Integration of Single Antenna GPS Receiver and Yaw Rate Sensor

  • 투고 : 2013.05.27
  • 심사 : 2013.06.07
  • 발행 : 2013.07.01
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초록

This paper presents a novel lateral stability control system for electric vehicle based on sideslip angle estimation through Kalman filter using the integration of a single antenna GPS receiver and yaw rate sensor. Using multi-rate measurements including yaw rate and course angle, time-varying parameters disappear from the measurement equation of the proposed Kalman filter. Accurate sideslip angle estimation is achieved by treating the combination of model uncertainties and external disturbances as extended states. Active front steering and direct yaw moment are integrated to manipulate sideslip angle and yaw rate of the vehicle. Instead of decoupling control design method, a new control scheme, "two-input two-output controller", is proposed. The extended states are utilized for disturbance rejection that improves the robustness of lateral stability control system. The effectiveness of the proposed methods is verified by computer simulations and experiments.

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참고문헌

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피인용 문헌

  1. A new anti-skid control method for electric vehicles using the motor torque and the wheel acceleration with experimental verification vol.231, pp.3, 2017, https://doi.org/10.1177/0954407016639444
  2. New TA Index-Based Rollover Prevention System for Electric Vehicles vol.8, pp.12, 2015, https://doi.org/10.3390/en8032008
  3. Enhancement of Dual-Rate Estimation and Its Application Demonstration vol.47, pp.3, 2014, https://doi.org/10.3182/20140824-6-ZA-1003.00160
  4. Upper-Bound-Based State Estimation with Large-Time-Delay Measurement and Its Applications to Motion Control vol.5, pp.4, 2016, https://doi.org/10.1541/ieejjia.5.303
  5. On the Vehicle Sideslip Angle Estimation: A Literature Review of Methods, Models, and Innovations vol.8, pp.3, 2018, https://doi.org/10.3390/app8030355