Virtual sensor: application to vehicle sideslip angle and transversal forces
Stephant, J.
Charara, A.
Meizel, D.
Centre de Recherche de R.lieu, Univ. de Technol. de Compiegne, France;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: April 2004
Volume: 51,
Issue: 2
On page(s): 278- 289
ISSN: 0278-0046
INSPEC Accession Number: 7964585
Digital Object Identifier: 10.1109/TIE.2004.824857
Current Version Published: 2004-04-05
Abstract
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.
Index
Terms
Available to subscribers and IEEE members.
References
Available to subscribers and IEEE members.
Citing Documents
Available to subscribers and IEEE members.
Cart
