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Real-Time Parameter Estimations and Control System Designs for Lightweight Electric Ground Vehicles

Huang, Xiaoyu

Abstract Details

2014, Doctor of Philosophy, Ohio State University, Mechanical Engineering.
As one of the most promising energy-saving technologies, lightweight vehicles (LWVs) face great driving safety challenges towards their widespread popularization, mainly because of the substantially reduced curb weight and body size. Compared with their conventional counterparts, LWVs are much more sensitive to payload variations in terms of dynamic characteristics. The main objective of this research is therefore to provide tools and potential solutions to enhance the overall driving safety of LWVs by developing new and systematic parameter estimation methods and motion control algorithms. One type of LWV—lightweight electric ground vehicle (LEGV), equipped with four independently-actuated in-wheel motors (FIAIWM), is under study, whereas the proposed estimators and controllers can be applied on numerous other vehicle types where onboard payloads may change significantly w.r.t their curb masses. Moreover, since the LEGV is an over-actuated system—having more inputs than controlled outputs, an actuation-redundancy-based parameter estimation scheme is also proposed. This dissertation therefore covers the following topics. First, after introducing the experimental LEGV, a novel LWV control-oriented model is developed to analytically and quantitatively investigate the payload effects on LWV dynamics. Real-time parameter estimation methods are then designed for some important LWV parameters. To enhance the overall control system stability and robustness of the LWV systems when parameter estimations are not available, adaptive and robust vehicle motion control algorithms are proposed. Finally, actuation redundancies are innovatively utilized to achieve output-independent parameter estimations for a class of over-actuated systems. The developed models, estimators, controllers and integrated estimation/control schemes have all been validated through computer simulations in the combined environment of Matlab/Simulink and CarSim®, and vehicle field tests on an experimental LEGV. The contributions of this work made to the automotive field, in terms of both applications and theoretical innovations, will potentially enhance the driving safety of LWVs and make them more favorable as a future alternative transportation means.
Junmin Wang (Advisor)
Daniel Mendelsohn (Committee Member)
Ahmet Kahraman (Committee Member)
Manoj Srinivasan (Committee Member)
Peter Culicover (Other)
216 p.

Recommended Citations

Citations

  • Huang, X. (2014). Real-Time Parameter Estimations and Control System Designs for Lightweight Electric Ground Vehicles [Doctoral dissertation, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1403261078

    APA Style (7th edition)

  • Huang, Xiaoyu. Real-Time Parameter Estimations and Control System Designs for Lightweight Electric Ground Vehicles. 2014. Ohio State University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1403261078.

    MLA Style (8th edition)

  • Huang, Xiaoyu. "Real-Time Parameter Estimations and Control System Designs for Lightweight Electric Ground Vehicles." Doctoral dissertation, Ohio State University, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=osu1403261078

    Chicago Manual of Style (17th edition)