Real-time identification of vehicle dynamics for mobile machines with electrified drive trains
نویسندگان
چکیده
Modern concepts of electrified drive trains for off-road vehicles allow for some new possibilities for control strategies. When considering traction efficiency, the most controllable factor is wheel-slippage. Many existing slip control systems use a certain threshold value of slip as reference, for example for farm tractors, electrohydraulic hitch control system (EHC) controls the implement, which comprises depth and/or draft force control with a goal to keep the slip below about 10% for 4WD vehicles. New designed control system for off-road vehicles with electrified drive trains is based on real-time estimation of traction parameters and maximizes both traction efficiency and performance together and can be extended with additional actions, like compensating of side-slip angle or “pull-in-turn”. The present research describes effective real-time identification of all necessary dynamic information on every single wheel using only system inherent sensors, i.e. wheel speed, vehicle velocity (a radar or GPS-antenna), draft force sensors (from an EHC) and front suspension hydraulic cylinder pressure sensor to measure the vertical load on front wheels. There are options to perform identification without draft force and wheel load measurement. The identification system helps to define optimal slip which is sent to the slip control system and/or driver.
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