Estimation of Crosswind Disturbances for a Vehicle by LPV-MHE and its Application to Disturbance Cancellation

IF 1 4区工程技术 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC

IEEJ Transactions on Electrical and Electronic Engineering Pub Date : 2024-05-29 DOI:10.1002/tee.24126

Minoru Miyakoshi, Ami Maeda, Yu Kawano, Yasuhide Yano, Tomohiko Adachi, Nobutaka Wada

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Abstract

Crosswinds and transverse slopes of the road surface affect the motion of a ground vehicle as disturbances. The objective of this paper is to develop a method for estimating crosswind disturbances and lateral force disturbances caused by transverse slopes of the road surface under the variation of the vehicle speed. Firstly, a dynamical model of a vehicle is described as a Linear Parameter-Varying (LPV) system in which the value of the coefficient matrices vary with the vehicle velocity. Then, an algorithm to estimate the disturbance is derived based on Moving Horizon Estimation (MHE) and applied to the derived LPV system. Furthermore, a simple control law which counteracts the effects of the disturbances on the lateral velocity and the yaw rate in steady-state based on the estimates of the disturbances is presented. The effectiveness of the proposed method is demonstrated by a numerical example. © 2024 The Author(s). IEEJ Transactions on Electrical and Electronic Engineering published by Institute of Electrical Engineers of Japan and Wiley Periodicals LLC.

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LPV-MHE 对车辆横风干扰的估计及其在干扰消除中的应用

横风和路面横坡作为扰动因素影响地面车辆的运动。本文旨在开发一种方法，用于估算车速变化时路面横向坡度引起的横风扰动和侧向力扰动。首先，将车辆的动力学模型描述为线性参数变化（LPV）系统，其中系数矩阵的值随车辆速度变化而变化。然后，基于移动地平线估计（MHE）推导出一种估计干扰的算法，并将其应用于推导出的 LPV 系统。此外，还提出了一种简单的控制法则，可根据扰动估计值抵消扰动对稳定状态下横向速度和偏航率的影响。通过一个数值示例证明了所提方法的有效性。© 2024 作者姓名IEEJ Transactions on Electrical and Electronic Engineering 由日本电气工程师学会和 Wiley Periodicals LLC 出版。

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来源期刊

IEEJ Transactions on Electrical and Electronic Engineering 工程技术-工程：电子与电气

CiteScore

2.70

自引率

10.00%

发文量

199

审稿时长

4.3 months

期刊介绍： IEEJ Transactions on Electrical and Electronic Engineering (hereinafter called TEEE ) publishes 6 times per year as an official journal of the Institute of Electrical Engineers of Japan (hereinafter "IEEJ"). This peer-reviewed journal contains original research papers and review articles on the most important and latest technological advances in core areas of Electrical and Electronic Engineering and in related disciplines. The journal also publishes short communications reporting on the results of the latest research activities TEEE ) aims to provide a new forum for IEEJ members in Japan as well as fellow researchers in Electrical and Electronic Engineering from around the world to exchange ideas and research findings.