Sliding Modes Observers for Vehicle Dynamics and Variable Structure Automatic Systems (SMO-VSAS) - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2010

Sliding Modes Observers for Vehicle Dynamics and Variable Structure Automatic Systems (SMO-VSAS)

Résumé

This paper will show how to handle modeling of vehicles to get efficient and good Sliding Mode Observers. A car model with 16 DoF is decomposed for partial state observation with SMO. This decomposition method may lead, in VSAS, to good estimates of different kind variables and inputs (subsystems states, environment and ground variables, interfaces variables, connections and constraint variables). Robust Sliding Mode Observers and unknown input estimations are developed. I. INTRODUCTION 1 In literature, many studies deal with vehicle modeling [1][2][3]. Vehicle dynamics can be represented by approximate models which are either too much simplified to be realistic or complex and too much wide involving big simulation softwares. In nature they have a variable structure (VSAS) but in literature, their properties are never detailed nor their passivity property emphasized. This kind of systems, like in general VSAS, are composed with many passively coupled subsystems: wheels, motor and braking control system, sus-pensions, steering, more and more inboard and embedded electronics. There are several non linear parts in VSAS, which are coupled. These coupling may be time varying and non stationary. Approximations have to be made carefully regarding to the desired application, see eg [4]. In our previous works a good nominal vehicle model with 16 DOF have been validated in a simulator, we developed for a French car type (Peugeot 406), [2]. Several interesting applications was successful and have been evaluated by use of this simulator before actual results [5]. We have also considered this modeling for estimation of unknown inputs [6], interaction parameters and exchanges of VSAS with environment [7]. This approach has been used successfully also for heavy vehicles [8]. In this paper the car model is revisited as VSAS and struc-tured for estimation of inputs and diagnosis. We split the model in five subsystems [9] and then show and justify the rationale behind the successful splitting to get simple and efficient partial (sub) models. The subsystems and the overall system obey the passivity property. This feature, like in Bond Graphs modeling emphasize the energy flow in VSAS and exchanges between the system parts and also with the environment. After the structure and model analysis, we consider estimation of the partial states for diagnosis and motion control in the vehicle.
Fichier principal
Vignette du fichier
VSS2010Nacer.pdf (2.01 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-02496394 , version 1 (03-03-2020)

Identifiants

  • HAL Id : hal-02496394 , version 1

Citer

N K K Msirdi, Sirdi B Jaballah, H. Nasser, A. Naamane. Sliding Modes Observers for Vehicle Dynamics and Variable Structure Automatic Systems (SMO-VSAS). 2010 11th International Workshop on Variable Structure Systems (VSS), Jun 2010, Mexico city, Mexico. ⟨hal-02496394⟩
25 Consultations
36 Téléchargements

Partager

Gmail Facebook X LinkedIn More