DocumentCode :
1672578
Title :
Road utilization adhesion coefficient real-time estimation for ASR system
Author :
Ruan, Jiuhong ; Li, Yibin ; Yang, Fuguang ; Rong, Xuewen ; Song, Rui
Author_Institution :
Adv. Vehicle & Robot Inst., Shandong Jiaotong Univ., Jinan, China
fYear :
2010
Firstpage :
91
Lastpage :
95
Abstract :
The real-time estimation of road utilization adhesion coefficient is an important issue for the ASR (Anti-Slip Regulation) system of electric wheel independent drive vehicle. Firstly, the 1/4 vehicle dynamics model was built based on the LuGre tire model. Then combined with wheel angular velocity information, the exponential approach law-based sliding mode observer for the road utilization adhesion coefficient estimation was designed. And the observer´s asymptotic stability was proved also. Finally, at different conditions of constant target slip rate, variable target slip rate and ASR controllers of different type, the simulations of road utilization adhesion coefficient real-time estimation were done in the vehicle ASR process. The results show the effectiveness and robustness of the observer proposed.
Keywords :
adhesion; angular velocity; asymptotic stability; observers; road vehicles; tyres; variable structure systems; vehicle dynamics; wheels; ASR system; LuGre tire model; anti-slip regulation system; asymptotic stability; electric wheel independent drive vehicle; road utilization adhesion coefficient real-time estimation; robustness; sliding mode observer; target slip rate; vehicle dynamics; wheel angular velocity information; Adhesives; Observers; Real time systems; Roads; Speech recognition; Tires; ASR; LuGre tire model; sliding mode observer; utilization adhesion coefficient;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
Type :
conf
DOI :
10.1109/WCICA.2010.5553872
Filename :
5553872
Link To Document :
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