未知信號估測技術應用在具參數不確定性之車輛狀態估測

Please use this identifier to cite or link to this item: http://mitustr.lib.mitust.edu.tw:8080/ir/handle/987654321/1185

Title:	未知信號估測技術應用在具參數不確定性之車輛狀態估測
Authors:	吳文曲 Wu, Wen-Chu
Contributors:	電機與電子工程系
Keywords:	未知信號估測強健估測器設計車輛參數估測 Unknown input filtering Robust estimator design Vehicle parameter estimation
Date:	2018-07-25
Issue Date:	2018-07-31 00:13:50 (UTC+8)
Abstract:	車輛傾覆行為是一個複雜且具未知信號的動態系統，其包含了側滑角、偏航速率、側傾角、側傾速率、道路坡度及輪胎摩擦力等系統未知參數相互作用，若控制系統未能精確估測此些參數並做適當處理，極易產生車輛翻覆行為，最終造成乘客性命安全憾事。然而，這些未知因素的數學模型往往較難精確取得，因而傳統基於精確模型之估測方法較難獲得理想之估測效果。因此，如何開發出針對車輛未知信號估測的有效技術，是從事車輛系統研發者必須面對的課題。本論文研究目的即是針對具未知信號的車輛系統，嘗試利用不需信號模型的未知信號估測技術，將車輛系統的重要參數正確估測出來。本論文研究方法首先推導具道路坡度之車輛系統模型，藉以了解車輛系統所內含之未知信號。其次，探討具前輪剛度誤差之車輛狀態估測問題，並將其轉換為一未知信號估測問題。然後，嘗試應用現有未知信號估測技術，來建構一套有效車輛強健估測器設計方法。最後，透過MATLAB模擬結果來驗證研究成果之有效性。本論文研究成果包含有：(1)提出一最佳離散系統車輛強健估測器設計技巧，以解決具未知信號干擾之車輛系統狀態估測問題；(2)針對具系統參數不確性之車輛系統模型，提出一整合式系統建模技巧，以同時解決車輛系統之狀態及內含未知信號估測問題；(3)針對車輛在道路具有坡度所產生之未知信號干擾現象，提出一有效之未知信號估測技術，以同時解決車輛系統之狀態及坡度估測問題；(4)利用未知信號模型化技巧，來探討前輪轉向剛度誤差對車輛量測系統之影響性，進而提出應用未知信號估測技術來解耦其所造成量測錯誤訊號，以確保系統狀態估測結果之強健性。關鍵字：未知信號估測、強健估測器設計、車輛參數估測。 Vehicle rollover is a complex and unknown behavior, which includes unknown system parameters such as side slip angle, yaw rate, roll angle, roll rate, road bank angle and tire friction. If the vehicle control system fails to detect these unknown parameters, the obtained control may easily lead to vehicle rollover, which will eventually lead to passenger safety issues. However, the true models of these unknown factors are often difficult to be obtained, and hence the conventional model-based estimation method is difficult to be applied. Therefore, how to develop an effective method for estimating the unknown parameters of a vehicle system becomes a practical research problem that must be faced by the developers of vehicle control systems. The purpose of this thesis is to solve the state estimation problem of an uncertain vehicle system by using the unknown input filtering method. First, the thesis presents a vehicle system model with road bank angle, which clearly shows the unknown inputs existed in a vehicle system. Second, the vehicle state estimation problem with front wheel cornering stiffness uncertainty is addressed, which then can be converted into an unknown input filtering problem. Next, using the existing unknown input filtering method, an effective robust estimator design for an uncertain vehicle system is developed. Finally, the effectiveness of the research results is verified by using MATLAB simulations. The research results of this thesis include: (1) to propose an optimal discrete-time robust estimator design method to solve the state estimation problem of a vehicle system with unknown inputs; (2) to propose an integrated system modeling technique to simultaneously estimate the state and unknown inputs of a vehicle system with parametric uncertainty; (3) to propose an effective unknown input filtering method to solve the simultaneous state and road bank angle estimation problem; (4) to explore the influence of front wheel cornering stiffness uncertainty on vehicle dynamics via unknown input modeling, through which unknown input filtering can be used to decouple the uncertainty from the estimation error in order to ensure the robustness of the obtained state estimation. Keywords: Unknown input filtering, Robust estimator design, Vehicle parameter estimation.
Appears in Collections:	[電機與電子工程系] 學位論文

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