電気自動車における車体すべり角オブザーバのロバスト化と実車データによる検証

概要

論文の詳細を見る
Electric Vehicles (EVs) are inherently suitable for 2-Dimension vehicle motion control. To utilize EVs advantages, body slip angle β and yaw rate γ play an important role. However, as sensors to measure β are very expensive, we need to estimate β from only variables to be measurable. In this paper, an improved estimation method for body slip angle β for EVs is proposed. This method is based on a linear observer using side acceleration ay as well as γ information. We especially considered the design of gain matrix and succeeded in exact and robust estimation. We performed experiments by UOT MarchII. This experimental vehicle driven by four in-wheel motors was made for research on advanced control of EVs. Some experimental results are shown to verify the effectiveness of the proposed method.
社団法人電気学会の論文
2005-05-01