Virtual sensor: application to vehicle sideslip angle and transversal forces
Stephant, J.; Charara, A.; Meizel, D.
Industrial Electronics, IEEE Transactions on
Volume 51, Issue 2, April 2004 Page(s): 278 - 289
Digital Object Identifier 10.1109/TIE.2004.824857
Summary: This paper compares four observers (virtual sensors) of vehicle sideslip angle and lateral forces. The first is linear and uses a linear vehicle model. The remaining observers use an extended nonlinear model. The three nonlinear observers are: extended Luenberger observer, extended Kalman filter and sliding-mode observer. Modeling, model simplification, and observers are described, and an observability analysis is performed for the entire vehicle trajectory. The paper also deals with three different sets of sensors to see the impact of observers results. Comparison is first done by simulation on a valid vehicle simulator, and then observers are used on experimental data. Our study shows that observers are more accurate than simple models as regards unmeasurable variables such as sideslip angle and transversal forces. It also shows that speed of center of gravity is not an indispensable variable here.
View citation and abstract |
Cart
