ABSTRACT Tire forces are the major forces propelling the road vehicles. They significantly affect the dynamic behavior of the vehicles. Estimation of the tire forces is essential in vehicle dynamics and control. This paper presents an observer-based scheme for estimation of the longitudinal tire force of electric vehicles in real time. The observer is based on a nonlinearity observer method. The pole-placement technique is used for determination of the observer gains. Simulation results demonstrate that the observer is able to estimate the tire force successfully. The experiments are implemented on a single-wheel electric vehicle test rig. The test rig comprises an electric motor driven wheel and a free-rolling drum simulating vehicle-on-road situations. Experimental results confirm the effectiveness of the present scheme.
Cite this paper
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