Title :
Nonlinear LQG Slip Controller Based on an Empirical Model for a Three Wheel Hybrid Vehicle
Author :
Boisvert, Maxime ; Micheau, Philippe ; Nadeau, Jonathan
Author_Institution :
Centre des Technol. Av., Univ. de Sherbrooke, Sherbrooke, QC, Canada
Abstract :
A three wheels recreational vehicle propelled by its unique rear wheel is studied for the purpose of regenerative braking control. To ensure the stability of the vehicle and the safety of the pilot, the slip ratio of the powered wheel must be limited during regenerative braking. In this study, a design of a LQG slip tracking algorithm is proposed. The non-linear model is based on experimental tests and the controller has been validated by simulations and road tests.
Keywords :
hybrid electric vehicles; linear quadratic Gaussian control; machine control; nonlinear control systems; regenerative braking; slip (asynchronous machines); LQG slip tracking algorithm; linear quadratic Gaussian control; nonlinear LQG slip controller; pilot safety; powered wheel; rear wheel; recreational vehicle; regenerative braking control; slip ratio; three wheel hybrid vehicle; vehicle stability; Estimation; Roads; Stability analysis; Torque; Vehicle dynamics; Vehicles; Wheels;
Conference_Titel :
Vehicle Power and Propulsion Conference (VPPC), 2014 IEEE
Conference_Location :
Coimbra
DOI :
10.1109/VPPC.2014.7007110
