Estimating the Tire-Road Friction Coefficient Using Disturbance Observerwith Compensator

Ming Liu, Xuewen Rong, Yibin Li, Yanfang Yin
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引用次数: 0

Abstract

The tire-road friction coefficient is critical to the performance of mobile robots working outdoors. However, it is difficult to measure using commercially available technology sensors. This paper presents a method of estimating the tire-road friction coefficient using a disturbance observer (DO) with compensator; the chassis speed is not needed. In this paper, the torque produced by the tire-road friction is considered to be the disturbance. The DO with compensator is de- signed to estimate the tire-road friction coefficient using the dynamic behavior of the vehicle model, the traction torque and the wheel velocity. The simulation result shows that the proposed method can estimate the tire-road friction coeffi- cient accurately under different road conditions and has strong robustness on modeling mismatch and vehicle load chang- ing.
利用带补偿器的扰动观测器估计轮胎-路面摩擦系数
轮胎-路面摩擦系数是影响户外移动机器人工作性能的关键因素。然而,使用商业上可用的技术传感器很难测量。提出了一种利用带补偿器的扰动观测器估计轮胎-路面摩擦系数的方法;不需要设置机箱转速。本文将轮胎-路面摩擦产生的转矩视为扰动。设计了带补偿器的DO,利用车辆模型的动力学特性、牵引力矩和车轮速度来估计轮胎-路面摩擦系数。仿真结果表明,该方法能准确估计不同路况下的胎路摩擦系数,对模型失配和车辆载荷变化具有较强的鲁棒性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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