Abstract
Tire forces are the major forces propelling the road vehicles. They significantly affect the dynamic behavior of the vehicles. Estimation of the tire forces is essential in vehicle dynamics and control. This paper presents an observer-based scheme for estimation of the longitudinal tire force of electric vehicles in real time. The observer is based on a nonlinearity observer method. The pole-placement technique is used for determination of the observer gains. Simulation results demonstrate that the observer is able to estimate the tire force successfully. The experiments are implemented on a single-wheel electric vehicle test rig. The test rig comprises an electric motor driven wheel and a free-rolling drum simulating vehicle-on-road situations. Experimental results confirm the effectiveness of the present scheme.
Highlights
Electric vehicles (EVs) have become very attractive for replacing conventional internal combustion engine vehicles because of environmental and energy problems [1].The research and development of EVs and hybrid EVs have been investigated on various topics such as, for example, propulsion systems [2], power converters [3], and motion control [4].Traction control plays an important role in vehicle motion control because it increases drive efficiency, safety, and stability
In [9], three different observers are developed for the estimation of slip ratios and longitudinal tire forces
This paper presents an observer-based scheme for estimation of the longitudinal tire force of EVs using a nonlinearity observer
Summary
Electric vehicles (EVs) have become very attractive for replacing conventional internal combustion engine vehicles because of environmental and energy problems [1]. Tire forces are essential in traction control They are the vehicular propulsive forces produced by friction between the rolling wheel and the road surface. In [5], an approach to estimate the tire-road friction during normal drive is presented. A slip-based method to estimate the maximum available tire-road friction during breaking is developed in [7]. The method is based on the hypothesis that the slope of the slip curve at the low-slip region during normal driving can indicate the maximum friction coefficient. In [9], three different observers are developed for the estimation of slip ratios and longitudinal tire forces. This paper presents an observer-based scheme for estimation of the longitudinal tire force of EVs using a nonlinearity observer. A single-wheel test rig is used as an experimental test bench
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