Identification of LPV steering models of a truck
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چکیده
In the paper Linear Parameter-Varying (LPV) models of a road-vehicle are presented, that describe the yaw dynamics, the steering system and the brake dynamics of the front wheels. The scheduling parameter is the vehicle velocity. The identification procedure is also detailed. The aim of the identification is to provide models for LPV yaw-rate controller design. The differential brake control on the front wheels applies torque to the steering system by building different wheel-road contact forces on the wheels. Physically parameterized state-space models were developed in order to preserve the velocity-dependence in the structure. Then parameters are estimated by minimizing an output-error criterion function, the initial values of those are set by using transitional model structures and least-square estimation. In the parameter initialization a special input selection was exploited, that made it possible to estimate the steering angle which was not available by sensors. The measurements for the identification were saved on a MAN truck. The resulted parameter estimates were convergent and the models showed a good fit to the validation set.
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تاریخ انتشار 2004