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Model based vertical dynamics estimation with Modelica and FMI

Fleps-Dezasse, Michael and Brembeck, Jonathan (2013) Model based vertical dynamics estimation with Modelica and FMI. In: 7th IFAC Symposium on Advances in Automotive Control, AAC 2013, 7 (1), pp. 341-346. 7th IFAC Symposium on Advances in Automotive Control, 2013-09-04 - 2013-09-07, Tokyo, Japan. doi: 10.3182/20130904-4-JP-2042.00086. ISSN 1367-5788.

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Official URL: http://www.ifac-papersonline.net/Detailed/60685.html


This paper analyses the performance of Modelica implemented state estimation algorithms for semi-active suspension control for the DLR ROboMObil (ROMO). In this approach the prediction model for the vertical dynamics state estimation and the tire contact force estimation is designed as a quarter vehicle model, which directly incorporates all relevant nonlinear parts. Based on this prediction model a square root unscented Kalman-filter (SR-UKF) is implemented, using the DLR Modelica Kalman-filter library and the Functional Mockup Interface (FMI). In a consecutive step this prediction model is extended by introducing an input port for road obstacle information, e. g. extracted from image data from ROMO 360 degree stereo surround view. The observer design and implementation on real-time hardware are performed in Modelica using the automated tool chain from the Modelica simulator to the Rapid Control Prototyping (RCP) hardware. Experimental results from a four post test-rig and simulations illustrate, that the estimation accuracy can be improved by the SR-UKF compared to an extended Kalman filter (EKF) based implementation.

Item URL in elib:https://elib.dlr.de/85615/
Document Type:Conference or Workshop Item (Speech)
Title:Model based vertical dynamics estimation with Modelica and FMI
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Brembeck, JonathanUNSPECIFIEDhttps://orcid.org/0000-0002-7671-5251UNSPECIFIED
Date:6 September 2013
Journal or Publication Title:7th IFAC Symposium on Advances in Automotive Control, AAC 2013
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 341-346
EditorsEmailEditor's ORCID iDORCID Put Code
Keywords:Kalman-filter, semi-active suspension, state estimation, Modelica, FMI
Event Title:7th IFAC Symposium on Advances in Automotive Control
Event Location:Tokyo, Japan
Event Type:international Conference
Event Start Date:4 September 2013
Event End Date:7 September 2013
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Project Fahrzeugintelligenz und Fahrwerk (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Fleps-Dezasse, Michael
Deposited On:11 Dec 2013 11:38
Last Modified:24 Apr 2024 19:51

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