| Home | KSAE | E-Submission | Sitemap | Contact Us |  
top_img
International Journal of Automotive Technology > Volume 17(6); 2016 > Article
International Journal of Automotive Technology 2016;17(6): 991-1002.
doi: https://doi.org/10.1007/s12239-016-0097-7
ESTIMATION OF MAXIMUM ROAD FRICTION COEFFICIENT BASED ON LYAPUNOV METHOD
X. XIA, L. XIONG, K. SUN, Z. P. YU
Tongji University
ABSTRACT
With the real time and accurate information of motor torque and rotation speed of the four-in-wheel-motor-drive electric vehicles, a slip based algorithm for estimating maximum road friction coefficient is designed using Lyapunov stability theory. Modified Burckhardt tire model is used to describe longitudinal slip property of the tire. By introducing a new state variable, a nonlinear estimator is proposed to estimate the longitudinal tire force and the maximum road friction coefficient simultaneously. With the appropriate selection of estimation gain, the convergence of the estimation error of the tire longitudinal force and maximum road friction coefficient is proved through Lyapunov stability analysis. In addition, the error is exponentially stable near the origin. Finally the method is validated with Carsim-Simulink co-simulation and real vehicle tests under multi working conditions in acceleration situation which demonstrate high computational efficiency and accuracy of this method.
Key Words: Four-in-wheel-motor-drive electric vehicles, Estimation of maximum road friction coefficient, Lyapunov stability, Nonlinear estimator
Editorial Office
21 Teheran-ro 52-gil, Gangnam-gu, Seoul 06212, Korea
TEL: +82-2-564-3971/2   FAX: +82-2-564-3973   E-mail: car@ksae.org
About |  Browse Articles |  Current Issue |  For Authors and Reviewers
Copyright © The Korean Society of Automotive Engineers. All rights reserved.                 Developed in M2community
Close layer
prev next