Robust Design of Body Slip Angle Observer for Electric Vehicles and Its Experimental Demonstration

摘要

Electric vehicles (EVs) are inherently suitable for two-dimensional vehicle motion control. To utilize EV's advantages, body slip angle and yaw rate play an important role. However, as sensors to measure are very expensive, we need to estimate from only variables to be measurable. In this paper, an improved estimation method for body slip angle for EVs is proposed. This method is based on a linear observer using side acceleration ay as well as information. We especially considered the design of gain matrix and succeeded in exact and robust estimation. We performed experiments by UOT March II. This experimental vehicle driven by four in-wheel motors was made for research on advanced control of EVs. Some experimental results are shown to verify the effectiveness of the proposed method.