Estimation of maximum road friction coefficient based on Lyapunov method

被引：38

作者：

Xia, X. ^{[1
,2
]}

Xiong, L. ^{[1
,2
]}

Sun, K. ^{[1
,2
]}

Yu, Z. P. ^{[1
,2
]}

机构：

[1] Tongji Univ, Sch Automot Studies, Shanghai 201804, Peoples R China

[2] Tongji Univ, Natl Collaborat Innovat Ctr 2011, Shanghai 201804, Peoples R China

来源：

INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY | 2016年 / 17卷 / 06期

关键词：

Four-in-wheel-motor-drive electric vehicles; Estimation of maximum road friction coefficient; Lyapunov stability; Nonlinear estimator; SYSTEMS;

D O I：

10.1007/s12239-016-0097-7

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

With the real time and accurate information of motor torque and rotation speed of the four-in-wheel-motordrive electric vehicles, a slip based algorithm for estimating maximum road friction coefficient is designed using Lyapunov stability theory. Modified Burckhardt tire model is used to describe longitudinal slip property of the tire. By introducing a new state variable, a nonlinear estimator is proposed to estimate the longitudinal tire force and the maximum road friction coefficient simultaneously. With the appropriate selection of estimation gain, the convergence of the estimation error of the tire longitudinal force and maximum road friction coefficient is proved through Lyapunov stability analysis. In addition, the error is exponentially stable near the origin. Finally the method is validated with Carsim-Simulink co-simulation and real vehicle tests under multi working conditions in acceleration situation which demonstrate high computational efficiency and accuracy of this method.

引用

页码：991 / 1002

页数：12

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