Procjena varijabli stanja automobilskog pogona s primjenama u regulaciji

doctoral thesis

• Title (english): State estimation of automotive drive with control applications
• Author: Danijel Pavković
• Mentor: Joško Deur (mentor)
• Committee member: Branko Novaković (predsjednik povjerenstva)
• Committee member: Joško Deur (član povjerenstva)
• Committee member: Ivan Mahalec (član povjerenstva)
• Committee member: Joško Petrić (član povjerenstva)
• Committee member: Nedjeljko Perić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2007-05-30, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering
• Universal decimal classification (UDC): 629.3 - Land vehicle engineering (excluding rail vehicles) ; 67/68 - Various industries, trades and crafts

Abstract

U radu je razmatrana problematika procjene varijabli stanja različitih podsustavaautomobilskog pogona i primjene u regulaciji. U tu su svrhu razmotreni odgovarajućidinamički modeli pojedinih podsustava automobilskog pogona, poput modela Ottovog motorai modela trenja između autogume i podloge. Parametri dinamičkih modela podsustavaautomobilskog pogona određeni su eksperimentalnom identifikacijom. Pritom je posebannaglasak dan na eksperimentalnu karakterizaciju značajki trenja za male iznose faktoraklizanja kotača. Ovo uključuje određivanje iznosa gradijenta statičke karakteristike trenja ifaktora prigušenja torzijskih vibracija autogume za različite vrste podloga, te uspostavljanjenjihove veze s koeficijentom trenja za širok raspon radnih parametara vozila.Za potrebe procjene varijabli stanja automobilskog pogona predložen je konceptadaptivnog Kalmanovog filtra temeljenog na stohastičkom modelu podsustava pogona uprostoru stanja. Pritom se osnovni Kalmanov filtar podešava za dobro potiskivanje šuma uprocijenjenim varijablama stanja, dok se adaptacija kratkotrajnim povećanjem pojačanjaKalmanovog filtra provodi samo kada se detektiraju nagle promjene varijabli stanja.Adaptivni Kalmanov filtar se posebice projektira i ispituje za sustav procjene momenta teretaOttovog motora. Adaptivni sustav procjene momenta tereta karakteriziran je visokomkvalitetom slijeđenja naglih promjena mometa tereta i niskom osjetljivosti na šum. Predloženisustav procjene primijenjen je kao osnova za kompenzaciju momenta tereta Ottovog motora usustavu regulacije brzine vrtnje u praznom hodu. Tako dobiveni adaptivni regulator ispitan jeeksperimentalno i uspoređen s konvencionalnim regulatorima kao što su PI, PID i polinomskiregulator. Usporedni eksperimentalni rezultati ukazuju na znatno bolje regulacijske značajkeadaptivnog regulatora za širok raspon režima rada Ottovog motora. Eksperimentalna analizatakođer pokazuje da primjena adaptivnog regulatora predstavlja svojevrsno optimalno rješenjeu razmatranom slučaju kada se moment tereta Ottovog motora ne može precizno mjeriti ilirekonstruirati.Adaptivni Kalmanov filtar je također uspješno primijenjen za procjenu masenog protokazraka Ottovog motora i vučne sile električnog vozila. Primjena adaptivnog Kalmanovog filtraza procjenu koeficijenta trenja na temelju statičke karakteristike trenja i faktora prigušenjatorzijskih vibracija autogume rezultira točnom i brzom procjenom promjene stanja podloge idobrim potiskivanjem šuma u stacionarnom stanju.

Abstract (english)

The thesis deals with the estimation of state variables of different automotive power trainsubsystems, and its control applications. For that purpose appropriate dynamic models ofdifferent power train subsystems have been considered, such as the spark-ignition enginemodel and tire-road friction model. The model parameters have been determined by means ofexperimental identification. The emphasis has been given to experimental characterization oftire friction behavior in the low wheel slip region. This includes the estimation of tire staticcurve gradient and tire vibration mode damping ratio for different road conditions, andcorrelating these parameters with tire friction coefficient for a wide range of vehicle operation.An adaptive Kalman filter, which is based on power train subsystem stochastic state-spacemodel, is proposed for the purpose of estimation of automotive power train variables. Thebasic Kalman filter is tuned for good noise suppression, while the short-duration adaptation ofKalman filter gains is performed only when sudden changes of state variables are detected.The special emphasis is given to adaptive Kalman filter design for SI engine load torqueestimation. The adaptive load torque estimator is characterized by good tracking ability of fastload torque changes and low noise sensitivity. The proposed estimator has been used as a basisfor SI engine load torque compensation within the engine idle speed control system. Such anadaptive controller has been verified experimentally, and compared to conventional controllerssuch as PI, PID, and polynomial controllers. The comparative experimental results point out tofar better control performance of adaptive controller for a wide range of SI engine operation.The experimental analysis also shows that the adaptive compensator application yields a kindof ultimate performance for the considered case when the load torque cannot be accuratelymeasured or reconstructed.The adaptive Kalman filter has also been successfully applied for the estimation of SIengine air mass flow and electrical vehicle tire traction force. The application of adaptiveKalman filter for the estimation of tire-road friction coefficient based on the tire static curvegradient and the vibration mode damping ratio results in accurate and fast detection of roadcondition change, and good noise suppression.

• Keywords: automobilski pogon; procjena varijabli stanja; regulacija; adaptivni Kalmanov filtar; Ottov motor; trenje između autogume i podloge
• Keywords (english): automomotive drive; state estimation; control; adaptive Kalman filter; SI engine: tire/road friction
• Language: croatian
• URN:NBN: urn:nbn:hr:235:281631
• Study programme: Title: Mechanical Engineering and Naval Architecture; Study programme type: university; Study level: postgraduate; Academic / professional title: doktor/doktorica znanosti, područje tehničkih znanosti (doktor/doktorica znanosti, područje tehničkih znanosti)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2020-12-28 08:51:48