Real-time estimation of tyre-road friction peak with optimal linear parameterisation

• Type: Article in International Scientific Journal
• Date: 2012

Authors

R. de Castro (Author) Other; Rui E. Araújo (Author) FEUP; Diamantino Freitas (Author) FEUP

Journal

Title: IET Control Theory and Applications

Vol. 6 No. 14

Pages: 2257-2268

ISSN: 1751-8644

Publisher: Wiley-Blackwell

Indexing

ISI Web of Knowledge - 30 Citations

ISI Web of Science

Scopus - 33 Citations

INSPEC

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

CORDIS: Technological sciences > Technology > Energy technology > Electric vehicles ; Technological sciences > Engineering > Electrical engineering ; Technological sciences > Engineering > Control engineering > Automation

Other information

Authenticus ID: P-002-5K8

DOI: 10.1049/iet-cta.2011.0424

Abstract (EN): Spurred by the problem of identifying, in real-time, the adhesion levels between the tyre and the road, a practical, linear parameterisation (LP) model is proposed to represent the tyre friction. Towards that aim, results from the theory of function approximation, together with optimisation techniques, are explored to approximate the non-linear Burckhardt model with a new LP representation. It is shown that, compared with other approximations described in the literature, the proposed LP model is more efficient, that is, it requires a smaller number of parameters, and provides better approximation capabilities. Next, a modified version of the recursive least squares, subject to a set of equality constraints on parameters, is employed to identify the LP in real time. The inclusion of these constraints, arising from the parametric relationships present when the tyre is in free-rolling mode, reduces the variance of the parametric estimation and improves the convergence of the identification algorithm, particularly in situations with low tyre slips. The simulation results obtained with the full-vehicle CarSim model under different road adhesion conditions demonstrate the effectiveness of the proposed LP and the robustness of the friction peak estimation method. Furthermore, the experimental tests, performed with an electric vehicle under low-grip roads, provide further validation of the accuracy and potential of the estimation technique.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12