Real-Time Ground Vehicle Parameter Estimation and System Identification for Improved Stability Controllers

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dc.contributor.authorKolansky, Jeremy Josephen
dc.contributor.committeechairSandu, Corinaen
dc.contributor.committeememberAhmadian, Mehdien
dc.contributor.committeememberSouthward, Steve C.en
dc.contributor.committeememberFathy, Hosam K.en
dc.contributor.committeememberTarazaga, Pablo Albertoen
dc.contributor.committeememberEls, Pieter Schalken
dc.contributor.departmentMechanical Engineeringen
dc.date.accessioned2014-04-11T08:00:17Zen
dc.date.available2014-04-11T08:00:17Zen
dc.date.issued2014-04-10en
dc.description.abstractVehicle characteristics have a significant impact on handling, stability, and rollover propensity. This research is dedicated to furthering the research in and modeling of vehicle dynamics and parameter estimation. Parameter estimation is a challenging problem. Many different elements play into the stability of a parameter estimation algorithm. The primary trade-off is robustness for accuracy. Lyapunov estimation techniques, for instance, guarantee stability but do not guarantee parameter accuracy. The ability to observe the states of the system, whether by sensors or observers is a key problem. This research significantly improves the Generalized Polynomial Chaos Extended Kalman Filter (gPC-EKF) for state-space systems. Here it is also expanded to parameter regression, where it shows excellent capabilities for estimating parameters in linear regression problems. The modeling of ground vehicles has many challenges. Compounding the problems in the parameter estimation methods, the modeling of ground vehicles is very complex and contains many difficulties. Full multibody dynamics models may be able to accurately represent most of the dynamics of the suspension and vehicle body, but the computational time and required knowledge is too significant for real-time and realistic implementation. The literature is filled with different models to represent the dynamics of the ground vehicle, but these models were primarily designed for controller use or to simplify the understanding of the vehicle’s dynamics, and are not suitable for parameter estimation. A model is devised that can be utilized for the parameter estimation. The parameters in the model are updated through the aforementioned gPC-EKF method as applies to polynomial systems. The mass and the horizontal center of gravity (CG) position of the vehicle are estimated to high accuracy. The culmination of this work is the estimation of the normal forces at the tire contact patch. These forces are estimated through a mapping of the suspension kinematics in conjunction with the previously estimated vehicle parameters. A proof of concept study is shown, where the system is mapped and the forces are recreated and verified for several different scenarios and for changing vehicle mass.en
dc.description.degreePh. D.en
dc.format.mediumETDen
dc.identifier.othervt_gsexam:2433en
dc.identifier.urihttp://hdl.handle.net/10919/47351en
dc.publisherVirginia Techen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectParameter Estimationen
dc.subjectSignal Processingen
dc.subjectKalman Filteren
dc.subjectPolynomial Chaosen
dc.subjectGround Vehicleen
dc.subjectStability Controlen
dc.subjectSystem Identificationen
dc.subjectReal-Time Estimationen
dc.titleReal-Time Ground Vehicle Parameter Estimation and System Identification for Improved Stability Controllersen
dc.typeDissertationen
thesis.degree.disciplineMechanical Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.leveldoctoralen
thesis.degree.namePh. D.en

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