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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
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。


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:[Department of Electrical and Electronic Engineering] Theses or Dissertations

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