Vehicle mass is an important parameter in vehicle dynamics control systems. Although many algorithms have been developed for the estimation of mass, none of them have yet taken into account the different types of resi...Vehicle mass is an important parameter in vehicle dynamics control systems. Although many algorithms have been developed for the estimation of mass, none of them have yet taken into account the different types of resistance that occur under different conditions. This paper proposes a vehicle mass estimator. The estimator incorporates road gradient information in the longitudinal accelerometer signal, and it removes the road grade from the longitudinal dynamics of the vehicle. Then, two different recursive least square method （RLSM） schemes are proposed to estimate the driving resistance and the mass independently based on the acceleration partition under different conditions. A 6 DOF dynamic model of four In-wheel Motor Vehicle is built to assist in the design of the algorithm and in the setting of the parameters. The acceleration limits are determined to not only reduce the estimated error but also ensure enough data for the resistance estimation and mass estimation in some critical situations. The modification of the algorithm is also discussed to improve the result of the mass estimation. Experiment data on asphalt road, plastic runway, and gravel road and on sloping roads are used to validate the estimation algorithm. The adaptability of the algorithm is improved by using data collected under several critical operating conditions. The experimental results show the error of the estimation process to be within 2.6%, which indicates that the algorithm can estimate mass with great accuracy regardless of the road surface and gradient changes and that it may be valuable in engineering applications. This paper proposes a recursive least square vehicle mass estimation method based on acceleration partition.展开更多
Kalman filter is commonly used in data filtering and parameters estimation of nonlinear system,such as projectile's trajectory estimation and control.While there is a drawback that the prior error covariance matri...Kalman filter is commonly used in data filtering and parameters estimation of nonlinear system,such as projectile's trajectory estimation and control.While there is a drawback that the prior error covariance matrix and filter parameters are difficult to be determined,which may result in filtering divergence.As to the problem that the accuracy of state estimation for nonlinear ballistic model strongly depends on its mathematical model,we improve the weighted least squares method(WLSM)with minimum model error principle.Invariant embedding method is adopted to solve the cost function including the model error.With the knowledge of measurement data and measurement error covariance matrix,we use gradient descent algorithm to determine the weighting matrix of model error.The uncertainty and linearization error of model are recursively estimated by the proposed method,thus achieving an online filtering estimation of the observations.Simulation results indicate that the proposed recursive estimation algorithm is insensitive to initial conditions and of good robustness.展开更多
In order to evaluate the nonlinear performance and the possible damage to rubber-bearings （RBs） during their normal operation or under strong earthquakes, a simplified Bouc-Wen model is used to describe the nonlinea...In order to evaluate the nonlinear performance and the possible damage to rubber-bearings （RBs） during their normal operation or under strong earthquakes, a simplified Bouc-Wen model is used to describe the nonlinear hysteretic behavior of RBs in this paper, which has the advantages of being smooth-varying and physically motivated. Further, based on the results from experimental tests performed by using a particular type of RB （GZN 110） under different excitation scenarios, including white noise and several earthquakes, a new system identification method, referred to as the sequential nonlinear least- square estimation （SNLSE）, is introduced to identify the model parameters. It is shown that the proposed simplified Bouc- Wen model is capable of describing the nonlinear hysteretic behavior of RBs, and that the SNLSE approach is very effective in identifying the model parameters of RBs.展开更多
Order-recursive least-squares(ORLS)algorithms are applied to the prob-lems of estimation and identification of FIR or ARMA system parameters where a fixedset of input signal samples is available and the desired order ...Order-recursive least-squares(ORLS)algorithms are applied to the prob-lems of estimation and identification of FIR or ARMA system parameters where a fixedset of input signal samples is available and the desired order of the underlying model isunknown.On the basis of several universal formulae for updating nonsymmetric projec-tion operators,this paper presents three kinds of LS algorithms,called nonsymmetric,symmetric and square root normalized fast ORLS algorithms,respectively.As to the au-thors’ knowledge,the first and the third have not been so far provided,and the second isone of those which have the lowest computational requirement.Several simplified versionsof the algorithms are also considered.展开更多
In this paper, an adaptive channel estimation for MIMO OFDM is proposed. A set of pilot tones first are placed in each OFDM block, then the channel frequency response of these pilot tones are adaptively estimated by r...In this paper, an adaptive channel estimation for MIMO OFDM is proposed. A set of pilot tones first are placed in each OFDM block, then the channel frequency response of these pilot tones are adaptively estimated by reeursive least squares （RLS） directly in frequency domain not in time domain. Then after the estimation of the channel frequency response of pilot tones, to obtain the channel frequency response of data tones, a new interpolation method based on DFT different from traditional linear interpolation method according to adjacent pilot tones is proposed. Simulation results show good performance of the technique.展开更多
This paper proposes a recursive least squares algorithm for a nonlinear additive system with time delay.By the Weierstrass approximation theorem and the key term separation principle, the model can be simplified as an...This paper proposes a recursive least squares algorithm for a nonlinear additive system with time delay.By the Weierstrass approximation theorem and the key term separation principle, the model can be simplified as an identification model. Based on the identification model, a recursive least squares identification algorithm is used to estimate all the unknown parameters of the time-delayed additive system. An example is provided to show the effectiveness of the proposed algorithm.展开更多
针对常见控制策略在大型液压设备控制方面存在控制精度低与算法太复杂的问题,提出了基于线性扩张状态观测器(linear extended state observer,LESO)的线性时变模型预测控制(linear time-varying model predictive control,LTV-MPC)策略...针对常见控制策略在大型液压设备控制方面存在控制精度低与算法太复杂的问题,提出了基于线性扩张状态观测器(linear extended state observer,LESO)的线性时变模型预测控制(linear time-varying model predictive control,LTV-MPC)策略。通过起竖液压系统状态空间方程,设计了LESO实时估计系统当前状态;通过LTV-MPC输出比例阀电压信号的最优解。通过仿真与试验,验证所提方法的有效性。结果表明:无干扰时,相较于其他控制策略,LESO-LTV-MPC控制误差为0.014%,具有较高的控制精度;施加大干扰时,LESO-LTV-MPC控制误差为0.223%,具有较强的鲁棒性。因此,该控制策略能够有效提升起竖液压系统的性能。展开更多
基金Supported by National Basic Research Program of China(Grant No.2011CB711200)
文摘Vehicle mass is an important parameter in vehicle dynamics control systems. Although many algorithms have been developed for the estimation of mass, none of them have yet taken into account the different types of resistance that occur under different conditions. This paper proposes a vehicle mass estimator. The estimator incorporates road gradient information in the longitudinal accelerometer signal, and it removes the road grade from the longitudinal dynamics of the vehicle. Then, two different recursive least square method （RLSM） schemes are proposed to estimate the driving resistance and the mass independently based on the acceleration partition under different conditions. A 6 DOF dynamic model of four In-wheel Motor Vehicle is built to assist in the design of the algorithm and in the setting of the parameters. The acceleration limits are determined to not only reduce the estimated error but also ensure enough data for the resistance estimation and mass estimation in some critical situations. The modification of the algorithm is also discussed to improve the result of the mass estimation. Experiment data on asphalt road, plastic runway, and gravel road and on sloping roads are used to validate the estimation algorithm. The adaptability of the algorithm is improved by using data collected under several critical operating conditions. The experimental results show the error of the estimation process to be within 2.6%, which indicates that the algorithm can estimate mass with great accuracy regardless of the road surface and gradient changes and that it may be valuable in engineering applications. This paper proposes a recursive least square vehicle mass estimation method based on acceleration partition.
基金This work is supported by Postgraduate Research&Practice Innovation Program of Jiangsu Province(KYCX18_0467)Jiangsu Province,China.During the revision of this paper,the author is supported by China Scholarship Council(No.201906840021)China to continue some research related to data processing.
文摘Kalman filter is commonly used in data filtering and parameters estimation of nonlinear system,such as projectile's trajectory estimation and control.While there is a drawback that the prior error covariance matrix and filter parameters are difficult to be determined,which may result in filtering divergence.As to the problem that the accuracy of state estimation for nonlinear ballistic model strongly depends on its mathematical model,we improve the weighted least squares method(WLSM)with minimum model error principle.Invariant embedding method is adopted to solve the cost function including the model error.With the knowledge of measurement data and measurement error covariance matrix,we use gradient descent algorithm to determine the weighting matrix of model error.The uncertainty and linearization error of model are recursively estimated by the proposed method,thus achieving an online filtering estimation of the observations.Simulation results indicate that the proposed recursive estimation algorithm is insensitive to initial conditions and of good robustness.
基金National Natural Science Foundation of China Under Grant No.10572058the Science Foundation of Aeronautics of China Under Grant No.2008ZA52012
文摘In order to evaluate the nonlinear performance and the possible damage to rubber-bearings （RBs） during their normal operation or under strong earthquakes, a simplified Bouc-Wen model is used to describe the nonlinear hysteretic behavior of RBs in this paper, which has the advantages of being smooth-varying and physically motivated. Further, based on the results from experimental tests performed by using a particular type of RB （GZN 110） under different excitation scenarios, including white noise and several earthquakes, a new system identification method, referred to as the sequential nonlinear least- square estimation （SNLSE）, is introduced to identify the model parameters. It is shown that the proposed simplified Bouc- Wen model is capable of describing the nonlinear hysteretic behavior of RBs, and that the SNLSE approach is very effective in identifying the model parameters of RBs.
文摘Order-recursive least-squares(ORLS)algorithms are applied to the prob-lems of estimation and identification of FIR or ARMA system parameters where a fixedset of input signal samples is available and the desired order of the underlying model isunknown.On the basis of several universal formulae for updating nonsymmetric projec-tion operators,this paper presents three kinds of LS algorithms,called nonsymmetric,symmetric and square root normalized fast ORLS algorithms,respectively.As to the au-thors’ knowledge,the first and the third have not been so far provided,and the second isone of those which have the lowest computational requirement.Several simplified versionsof the algorithms are also considered.
基金the National Nature Science Foundation ofChina under Grant No. 60372107.
文摘In this paper, an adaptive channel estimation for MIMO OFDM is proposed. A set of pilot tones first are placed in each OFDM block, then the channel frequency response of these pilot tones are adaptively estimated by reeursive least squares （RLS） directly in frequency domain not in time domain. Then after the estimation of the channel frequency response of pilot tones, to obtain the channel frequency response of data tones, a new interpolation method based on DFT different from traditional linear interpolation method according to adjacent pilot tones is proposed. Simulation results show good performance of the technique.
基金the National Natural Science Foundation of China(No.61403165)the Natural Science Foundation of Jiangsu Province(Nos.BK20131109 and BK20141115)+1 种基金the Project of Philosophy and Social Science Research in Colleges and Universities in Jiangsu Province(No.2014SJD381)the Post Doctoral Foundation of Jiangsu Province(No.1501015A)
文摘This paper proposes a recursive least squares algorithm for a nonlinear additive system with time delay.By the Weierstrass approximation theorem and the key term separation principle, the model can be simplified as an identification model. Based on the identification model, a recursive least squares identification algorithm is used to estimate all the unknown parameters of the time-delayed additive system. An example is provided to show the effectiveness of the proposed algorithm.
文摘针对常见控制策略在大型液压设备控制方面存在控制精度低与算法太复杂的问题,提出了基于线性扩张状态观测器(linear extended state observer,LESO)的线性时变模型预测控制(linear time-varying model predictive control,LTV-MPC)策略。通过起竖液压系统状态空间方程,设计了LESO实时估计系统当前状态;通过LTV-MPC输出比例阀电压信号的最优解。通过仿真与试验,验证所提方法的有效性。结果表明:无干扰时,相较于其他控制策略,LESO-LTV-MPC控制误差为0.014%,具有较高的控制精度;施加大干扰时,LESO-LTV-MPC控制误差为0.223%,具有较强的鲁棒性。因此,该控制策略能够有效提升起竖液压系统的性能。
