Estimation of Normalized Longitudinal Force for an Electric Cart Using Equivalent-Input-Disturbance Approach
Estimation of Normalized Longitudinal Force for an Electric Cart Using Equivalent-Input-Disturbance Approach
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DOI：
10.1109/tvt.2014.2309954
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发表时间：
2014-03
影响因子：
6.8
通讯作者：
Jinhua She;K. Makino;Liyu Ouyang;H. Hashimoto;H. Murakoshi;Min Wu
中科院分区：
文献类型：
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作者：
Jinhua She;K. Makino;Liyu Ouyang;H. Hashimoto;H. Murakoshi;Min Wu
电动车是许多生活在日本的老年人使用的。为了保证在任何道路和天气条件下的驾驶安全，获得实时控制推车扭矩所需的信息非常重要。一个关键的信息项是归一化纵向力（NLF）的估计。本文提出了一种基于等效输入扰动法的NLF估计方法。它使用两个估计器：一个估计单轮模型的等效惯性的倒数，另一个使用该值来估计NLF。虽然这种方法很简单，但它能产生精确的估计。仿真结果证明了该方法的有效性。
Electric carts are used by many elderly people living in Japan. To guarantee driving safety under any road and weather conditions, it is very important to obtain the information needed to control the torque of the cart in a real-time fashion. A key item of information is an estimate of the normalized longitudinal force (NLF). This paper presents a method for estimating the NLF based on the equivalent-input-disturbance approach. It uses two estimators: One estimates the inverse of the equivalent inertial of a one-wheel model, and the other uses that value to estimate the NLF. Although the method is very simple, it produces a precise estimate. Simulations have demonstrated the validity of the method.