Real-time estimation of the optimal longitudinal slip ratio for attaining the maximum traction force
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00372597" target="_blank" >RIV/68407700:21230/24:00372597 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1016/j.conengprac.2024.105876" target="_blank" >https://doi.org/10.1016/j.conengprac.2024.105876</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.conengprac.2024.105876" target="_blank" >10.1016/j.conengprac.2024.105876</a>
Alternative languages
Result language
angličtina
Original language name
Real-time estimation of the optimal longitudinal slip ratio for attaining the maximum traction force
Original language description
Advanced driver assistant systems in vehicles, such as anti-lock brake system, electronic stability program, and traction control, heavily rely on the traction force of the wheels, which is determined by the wheels’ longitudinal slip ratio. A common method used to describe this dependency is the well-known Pacejka (magic) formula. The Pacejka (magic) formula suggests the existence of a unique optimal slip ratio, denoted as lambda_opt, for which the maximum traction force is achieved. Although the lambda_opt value slightly varies with changes in the tire-to-road interface, most studies tend to neglect the variation of lambda_opt due to its relatively low impact on the introduced error. Instead, most studies focus on estimating the maximum friction coefficient mu_max . In this paper, we address this oversimplification and propose an estimation method for lambda_opt. This paper introduces two novel approaches for real-time estimation of the slip ratio lambda_opt based on wheel dynamics. Both approaches were derived using a nonlinear twin-track model implemented in MATLAB & Simulink. The first approach uses recursive least squares, whereas the second approach employs the Unscented Kalman filter algorithm. In addition, a traction force estimator is presented because both estimators rely on either a measurement or an estimation of the traction force. To validate the performance of the proposed estimators, a high-fidelity twin-track vehicle model was initially employed. Finally, real-world experiments are presented in which the proposed algorithms are validated using an RC subscale platform.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Control Engineering Practice
ISSN
0967-0661
e-ISSN
1873-6939
Volume of the periodical
145
Issue of the periodical within the volume
April
Country of publishing house
GB - UNITED KINGDOM
Number of pages
12
Pages from-to
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UT code for WoS article
001174860400001
EID of the result in the Scopus database
2-s2.0-85185530744