Distributed drive electric vehicle state estimation based on extended kalman filter

Distributed Drive Electric Vehicle State Estimation based on Extended Kalman Filter 1876 6102 © 2016 The Authors Published by Elsevier Ltd This is an open access article under the CC BY NC ND license[.]

1876-6102 © 2016 The Authors Published by Elsevier Ltd This is an open access article under the CC BY-NC-ND license

( http://creativecommons.org/licenses/by-nc-nd/4.0/ ).

Peer-review under responsibility of the scientific committee of the Applied Energy Symposium and Forum, CUE2016: Low carbon cities and urban energy systems.

doi: 10.1016/j.egypro.2016.12.091

Energy Procedia 104 ( 2016 ) 538 – 543

ScienceDirect

&8($SSOLHG (QHUJ\ 6\PSRVLXP DQG )RUXP  /RZ FDUERQ FLWLHV XUEDQ

HQHUJ\ V\VWHPV

'LVWULEXWHG 'ULYH (OHFWULF 9HKLFOH 6WDWH (VWLPDWLRQ EDVHG RQ

([WHQGHG DOPDQ )LOWHU

D 1DWLRQDO (QJLQHHULQJ /DERUDWRU\ IRU (OHFWULF 9HKLFOHV %HLMLQJ ,QVWLWXWH RI 7HFKQRORJ\ %HLMLQJ  35 &KLQD

E &ROODERUDWLYH ,QQRYDWLRQ &HQWHU RI (OHFWULF 9HKLFOHV LQ %HLMLQJ %HLMLQJ ,QVWLWXWH RI 7HFKQRORJ\ %HLMLQJ 

35 &KLQD

$EVWUDFW

7KLV SDSHU UHVHDUFKHG DQ HVWLPDWLRQ PHWKRG EDVHG RQ ([WHQGHG DOPDQ )LOWHU (.) IRU GLVWULEXWHG GULYH HOHFWULF YHKLFOH VWDWHV $  '2) FORVHGORRS YHKLFOH VLPXODWLRQ SODWIRUP LQFOXGLQJ GULYHU PRGHO RI SUHYLHZ IROORZHU PHWKRG DQG µ0DJLF IRUPXOD¶ WLUH PRGHO ZDV HVWDEOLVKHG $ JHQHUDO LQSXW ̢ RXWSXW DQG  VWDWHV HVWLPDWLRQ V\VWHP ZDV HVWDEOLVKHG FRQVLGHULQJ WKH ZKLWH *DXVV PHDVXUHPHQW QRLVH 7KH HVWLPDWLRQ DOJRULWKP ZDV DSSOLHG WR D IRXUPRWRU GULYHQ YHKLFOH GXULQJ D GRXEOHODQHFKDQJH SURFHVV 7KH UHVXOWV VKRZHG WKDW (.) HVWLPDWRU FRXOG HIIHFWLYHO\ HVWLPDWH WKH VWDWHV RI GLVWULEXWHG GULYH HOHFWULF YHKLFOH ZLWK YDU\LQJ VSHHG XQGHU VLPXODWLYH H[SHULPHQWDO FRQGLWLRQ

‹  7KH $XWKRUV 3XEOLVKHG E\ (OVHYLHU /WG

6HOHFWLRQ DQGRU SHHUUHYLHZ XQGHU UHVSRQVLELOLW\ RI &8(

.H\ ZRUGV VWDWH HVWLPDWLRQ˗GLVWULEXWHG GULYH HOHFWULF YHKLFOH˗([WHQGHG DOPDQ )LOWHU

 ,QWURGXFWLRQ

7KH YHKLFOH VWDWH HVWLPDWLRQ LV FUXFLDO IRU YHKLFOH DFWLYH VDIHW\ FRQWURO WHFKQRORJ\ DV VWDELOLW\ FRQWURO V\VWHP LQWHUYHQH YHKLFOH DFFRUGLQJ WR WKH YHKLFOH VWDWH ,Q UHIHUHQFH >@ (.) DQG 8.) KDYH EHHQ DSSOLHG

WR HVWLPDWH WKH \DZ UDWH DQG VLGHVOLS DQJOH +RZHYHU WKH FKDQJH RI ORQJLWXGLQDO YHORFLW\ KDV EHHQ QHJOHFWHG 5HIHUHQFH >@ KDV LQWURGXFHG D ZLGH YDULHW\ RI PHWKRGV WR HVWLPDWH YHKLFOH VWDWH 5HIHUHQFH >@ KDV UHVHDUFKHG DQ HVWLPDWLRQ PHWKRG EDVHG RQ WKH 0LQLPXP 0RGHO (UURU 00( DQG FULWHULRQ FRPELQJ ZLWK WKH (.) IRU :' YHKLFOH VWDWHV

7KH ORQJLWXGLQDO G\QDPLFV FRQWURO RI WKH YHKLFOH GHSHQGV RQ WKH DFFXUDWH HVWLPDWLRQ RI WKH ORQJLWXGLQDO YHORFLW\ DQG WKH ODWHUDO G\QDPLFV FRQWURO GHSHQGV RQ WKH VLGHVOLS DQJOH DQG \DZ YHORFLW\ 7KHVH VWDWH YDULDEOHV FDQ EH GLUHFWO\ PHDVXUHG E\ VHQVRUV EXW D IHZ NH\ SDUDPHWHUV RI YHKLFOH VWDWH FDQQRW

EH PHDVXUHG E\ VHQVRUV DFFXUDWHO\ DQG GLUHFWO\ XQGHU WKH IDFWRUV RI WHVWLQJ WHFKQLTXHV DQG FRVW RI PHDVXUHPHQW DQG VR RQ 6R LW LV QHFHVVDU\ WR XVH YHKLFOH VWDWH HVWLPDWLRQ WR DFFXUDWHO\ FDOFXODWH WKH UHTXL

(PDLO DGGUHVV [XH[XH#FRP

© 2016 The Authors Published by Elsevier Ltd This is an open access article under the CC BY-NC-ND license

( http://creativecommons.org/licenses/by-nc-nd/4.0/ ).

Peer-review under responsibility of the scientific committee of the Applied Energy Symposium and Forum, CUE2016: Low carbon cities and urban energy systems.

UHG EXW XQPHDVXUDEOH VWDWH SDUDPHWHUV &XUUHQWO\ GLVWULEXWHG GULYH HOHFWULF YHKLFOH LV UDSLGO\ GHYHORSHGˈ

VR LW LV FUXFLDO WR UHVHDUFK VWDWH HVWLPDWLRQ PHWKRG IRU WKLV NLQG RI YHKLFOH

 7KH PRGHOLQJ RI WKH :' HOHFWULF YHKLFOH

 µ0DJLF WLUH )RUPXOD¶ PRGHO

7KH WLUH IRUFH FDOFXODWLRQ LV VLJQLILFDQW IRU YHKLFOH G\QDPLFV PRGHO 7KH WLUH IRUFH FDQ EH FDOFXODWHG E\ FHUWDLQ WLUH PRGHOV OLNH µ0DJLF 7LUH )RUPXOD µDQG þ 'XJRII WLUH PRGHO¶ HWF>@,Q WKLV SDSHU ZH XVH

þ 0DJLF 7LUH )RUPXOD ÿ WR FDOFXODWH WKH WLUH IRUFHV 7KH JHQHUDO H[SUHVVLRQ RI WKH PRGHO LV JLYHQ DV IROORZV

VLQ ^ DUFWDQ DUFWDQ ` Y

K

®



°¯



WDQ

\ [

­

°°

®

°¯

ˈ



ZKHUH < UHSUHVHQWV WKH WLUH IRUFHV WR EH FDOFXODWHG ; LV WKH RYHUDOO LQGHSHQGHQW YDULDEOHV FRQVLGHULQJ WKH FDPEHU DQJOH WKH YHUWLFDO ORDG DQG WKH VOLS UDWLR RU VOLS DQJOHV%&'(6Y6KDUH WKH VWLIIQHVV VKDSH SHDN FXUYDWXUH YHUWLFDO GULIW DQG KRUL]RQWDO GULIW IDFWRUV UHVSHFWLYHO\ (T  LV XVHG WR FDOFXODWH WKH WLUH IRUFHV DW FRPELQHG ORQJLWXGLQDO DQG ODWHUDO VOLS FRQGLWLRQV

:KHQ YHKLFOH GULYHV RQ D FXUYH ˈ WKH WLUH KDV ERWK WKH ORQJLWXGLQDO DQG ODWHUDO VLGHVOLS>@8QGHU WKLV FRQGLWLRQ WKH UHODWLRQVKLSV EHWZHHQ WKH ORQJLWXGLQDO IRUFH ODWHUDO IRUFH DQG WKH VOLS UDWLR DUH VKRZQ LQ )LJD DQG E UHVSHFWLYHO\

 'ULYHU PRGHO

,Q WKH YHKLFOH VLPXODWLRQ V\VWHP D GULYHU PRGHO ZDV GHVLJQHG WR IROORZ WKH GHVLUHG WUDMHFWRU\ DQG VSHHG E\ DGMXVWLQJ WKH VWHHULQJ DQJOH GULYLQJ RU EUDNLQJ SHGDOV 7KH GULYHU PRGHO LQFOXGHV WZR SDUWV D 3, VSHHG WUDFNHU DQG D WUDMHFWRU\ WUDFNHU ZKLFK LV EDVHG RQ WKHþ3UHYLHZIROORZHU 7KHRU\ÿ GHYHORSHG E\

.*XR>@ )LJD DQG E VKRZ D W\SLFDO FXUYH RI GULYLQJ SHGDO DQJOH DQG VWHHULQJ ZKHHO DQJOH GXULQJ WKH GRXEOHODQHFKDQJH SURFHVV

 7KH PRGHOLQJ RI WKH YHKLFOH VWDWH HVWLPDWLRQ V\VWHP EDVHG RQ (.)

 7KH LQSXW̢RXWSXW DQG  VWDWHV HVWLPDWLRQ V\VWHP

'XH WR OLPLWHG DYDLODEOH PRGHO SDUDPHWHUV DQG FDOFXODWLRQ EXUGHQ UHVWULFWLRQ IRU UHDO WLPH DSSOLFDWLRQ DIWHU D VHULHV RI DVVXPSWLRQV DQG VLPSOLILFDWLRQV D '2) YHKLFOH ERG\ PRGHO LQFOXGLQJ WKH ORQJLWXGLQDO GLVSODFHPHQW WKH ODWHUDO GLVSODFHPHQW DQG WKH \DZ DQJOH GLVSODFHPHQW LV XVHG IRU WKH GLVWULEXWHG GULYH

HOHFWULF YHKLFOH VWDWH HVWLPDWRU

,QSXW YHFWRU

)LJD 5HODWLRQVKLS EHWZHHQ ODWHUDO IRUFH DQG VOLS UDWLR E5HODWLRQVKLS EHWZHHQORQJLWXGLQDOIRUFH DQG VOLS UDWLR

7KH YHKLFOH VWXGLHG LQ WKLV SDSHU LV HTXLSSHG ZLWK D VWHHULQJ DQJOH VHQVRU DQG D ORQJLWXGLQDO DFFHOHUDWLRQ 7KH VWHHULQJ ZKHHO DQJOH DQG WKH ORQJLWXGLQDO DFFHOHUDWLRQ FDQ EH SUHFLVHO\ PHDVXUHG DQG WKH\ IRUP WKH  GLPHQVLRQDO LQSXW YHFWRU RI WKH HVWLPDWLRQ V\VWHP DV IROORZV

> [@7

ZKHUHGVZ UHSUHVHQWV WKH VWHHULQJ DQJOH RI WKH VWHHULQJ ZKHHO˗D[ LV WKH ORQJLWXGLQDO DFFHOHUDWLRQ  9HKLFOH VWDWH YHFWRU

7KH YHKLFOH VWDWHV WR EH HVWLPDWHG LQFOXGH WKH \DZ UDWH J ˈ VLGHVOLS DQJOH E DQG ORQJLWXGLQ DO YHORFLW\ Y[ ZKLFK IRUP WKH  GLPHQVLRQDO VWDWH YHFWRU RI WKH HVWLPDWLRQ V\VWHP DV IROORZV

> [@7

 0HDVXUHPHQW YHFWRU

7KH RXWSXW WR EH PHDVXUHG LQ WKH HVWLPDWLRQ V\VWHP LV WKH ODWHUDO DFFHOHUDWLRQ 7KH PHDVXUHPHQW YHFWRU RI WKH HVWLPDWLRQ V\VWHP LV JLYHQ DV

\

'2) YHKLFOH ERG\ PRGHO

7KH VWDWH HTXDWLRQ DQG PHDVXUHPHQW HTXDWLRQ RI WKH '2) YHKLFOH ERG\ PRGHO DUH DV IROORZV

 



N E N N N

W W XW ZW 

JE

°

°

°

°

¯











    

W W W \

[

ZKHUH D UHSUHVHQWV WKH GLVWDQFH IURP FHQWURLG WR WKH IURQW D[OH˗E LV WKH GLVWDQFH IURP FHQWURLG WR WKH UHDU D[OH˗NDQG NDUH WKH FRUQHULQJ VWLIIQHVV RI WKH IURQW ZKHHO DQG UHDU ZKHHO UHVSHFWLYHO\ P LV YHKLFOH IXOO PDVV

-DFRELDQ PDWUL[HV RI WKH V\VWHP DUH JLYHQ DV DFFRUGLQJ WR (T  DQG (T >@



        

)

J

J





     



W

+



W , )

ZKHUH 7 UHSUHVHQWV VDPSOLQJ WLPH

 ([WHQGHG DOPDQ )LOWHU DOJRULWKP IRU 'LVWULEXWHG 'ULYH (OHFWULF 9HKLFOH

 9HKLFOH VWDWH YHFWRU ˈ FRYDULDQFH PDWUL[ RI VWDWH HUURU 3 DUH LQLWLDOL]HG>@ [ Ö >  @_ ˈˈ 7 

_  

3 , u &RYDULDQFH PDWUL[ RI SURFHVV QRLVH 4 DQG FRYDULDQFH PDWUL[ RI PHDVXUHPHQW QRLVH 5

VKRXOG EH JLYHQ LQ WKH SURSRVHG HVWLPDWRU

 6WDWH YDULDEOHV VKRXOG EH SUHGLFWHG DV LV VKRZQ LQ (T 

_N _N

ÖN ÖN N 

[ I [ X

7KH GLVFUHWL]DWLRQ RI WKH (T LV JLYHQ DV

 



N  >7 @ N 7 N 7 N

N  >7 @ N >7 @ N 7 N

N  7  N

EJ

°

°

®

°

°

¯



,Q (T  D SURSHU VDPSOLQJ WLPH 7 VKRXOG EH VHOHFWHG IRU KLJK HVWLPDWLRQ DFFXUDF\ :H FKRRVH

V DV WKH VDPSOLQJ WLPH LQ RXU UHVHDUFK ZRUN

 (UURU FRYDULDQFH PDWUL[ LV SUHGLFWHG DFFRUGLQJ WR (T  

_ _ _ _

7

7KH FDOFXODWLRQ RI DOPDQ ILOWHU JDLQ PDWUL[ LV VKRZQ LQ (T 



 _ 7_ + _ _ 7_ 

7KH VWDWH YDULDEOHV DUH XSGDWHG E\ WKH PHDVXUHG YDOXH D\

_N _N  N  _N

ÖN ÖN N \ K ÖN  

 (UURU FRYDULDQFH PDWUL[ LQ (T LV XSGDWHG E\ WKDW LQ (T  

_   +  _

 7KH SURFHVV DERYH LV ORRSHG XQWLO WKH QXPEHU RI VHW VWHSV 

 7KH DSSOLFDWLRQ H[DPSOH RI WKH HVWLPDWLRQ DOJRULWKP

7R YHULI\ WKH HIIHFWLYHQHVV RI WKH SURSRVHG HVWLPDWLRQ PHWKRG DQ DSSOLFDWLRQ H[DPSOH XQGHU VLPXODWLYH H[SHULPHQWDO FRQGLWLRQ LV GHPRQVWUDWHG LQ WKLV SDSHU 7KH VLPXODWLYH H[SHULPHQWDO SODWIRUP LV FRPSRVHG RI WKH IROORZLQJ WZR VXEV\VWHPV  WKH YHKLFOH VLPXODWLRQ V\VWHP  WKH VWDWH HVWLPDWLRQ V\VWHP 7KH GLVWULEXWHG GULYH HOHFWULF YHKLFOH VLPXODWLRQ SODWIRUP LV EXLOW WR SURYLGH LQSXW WR WKH (.) ,Q WKLV SDSHU D GRXEOHODQHFKDQJH SURFHVV ZLWK YDU\LQJ VSHHG LV WDNHQ DV DQ DSSOLFDWLRQ H[DPSOH 7KH FRPSDULVRQ RI WKH HVWLPDWLRQ UHVXOWV DQG (9 PRGHO UHVXOWV LV JLYHQ LQ )LJ

&RQFOXVLRQV

7R LPSOHPHQW WKH UHDO WLPH HVWLPDWLRQ RI WKH :' YHKLFOH VWDWHV ˈ WKH PRGHOLQJ RI D  '2) FORVHG ORRS YHKLFOH VLPXODWLRQ SODWIRUP ZDV HVWDEOLVKHG 7KH GHWDLO GHVFULSWLRQ RI WKH YHKLFOH VWDWH HVWLPDWLRQ PHWKRG EDVHG RQ (.) ZDV GLVFXVVHG

7KH VLPXODWLRQ UHVXOWV VKRZ WKDW WKH SURSRVHG PHWKRG EDVHG RQ ([WHQGHG DOPDQ )LOWHU FDQ HIIHFWLYHO\ HVWLPDWHV VWDWH HVWLPDWLRQ IRU 'LVWULEXWHG 'ULYH (OHFWULF 9HKLFOH

)LJ D WKH HVWLPDWLRQ UHVXOWV DQG WKH (.) UHVXOWV RI VLGHVOLS DQJOHE WKH HVWLPDWLRQ UHVXOWV DQG WKH (.) UHVXOWV RI

\DZ UDWH

$FNQRZOHGJHPHQWV

7KLV ZRUN ZDV VXSSRUWHG LQ SDUW E\ %HLMLQJ (GXFDWLRQ &RPPLWWHH

5HIHUHQFHV

>@ 3HQJ FKXQOHL 6WXG\ RQ +DQGOLQJ 6WDELOLW\ &RRUGLQDWHG &RQWURO IRU 'XDOPRWRU ,QGHSHQGHQW 'ULYH (OHFWULF 9HKLFOH %HLMLQJ

%HLMLQJ ,QVWLWXWH RI 7HFKQRORJ\ 

>@ &KHQ <DR 6WXG\ RQ 0HWKRGV RI 6WDWHV DQG 3DUDPHWHUV (VWLPDWLRQ IRU ,QZKHHO 0RWRU 'ULYH (OHFWULF 9HKLFOH &KRQJ 4LQJ 8QLYHUVLW\ 

>@ :HL /LX +RQJZHQ +H )HQJFKXQ 6XQ 9HKLFOH VWDWH HVWLPDWLRQ EDVHG RQ 0LQLPXP 0RGHO (UURU FULWHULRQ FRPELQLQJ ZLWK ([WHQGHG DOPDQ )LOWHU -RXUQDO RI WKH )UDQNOLQ ,QVWLWXWH˗ˈS

>@ /LQ &KHQJ ˈ3HQJ &KXQOHL ˈ &DR :DQNH 6OLGLQJ 0RGH 9DULDEOH 6WUXFWXUH &RQWURO IRU WKH 6WDELOLW\ RI ,QGHSHQGHQW 'ULYH (OHFWULF 9HKLFOH $XWRPRWLYH (QJLQHHULQJ S

>@ <DQJ =KLKDR 5HVHDUFK RQ WKH VWDELOLW\ RI GLVWULEXWHG GULYH HOHFWULF YHKLFOH EDVHG RQ WKH YHKLFOH EXV %HLMLQJ %HLMLQJ ,QVWLWXWH

RI 7HFKQRORJ\˗

>@  *XR 3UHYLHZ IROORZHU WKHRU\ DQG VLPXODWLRQV RI ODUJH DQJOH FRUQHULQJ PRWLRQ RI D PDQ̢YHKLFOH V\VWHP $XWRP(QJ    ̢

>@ : /LX + +H - 3HQJ 'ULYLQJ FRQWURO UHVHDUFK IRU ORQJLWXGLQDO G\QDPLFV RI HOHFWULF YHKLFOHV ZLWK LQGHSHQGHQWO\ GULYHQ IURQW DQG UHDU ZKHHOV 0DWK 3UREO (QJ

>@5HVHDUFK RQ (VWLPDWLQJ $OJRULWKP RI H\ 6WDWH 3DUDPHWHUV IRU (63 +HIHL +HIHL 8QLYHUVLW\ RI 7HFKQRORJ\

Peer-review under responsibility of the scientific committee of the Applied Energy Symposium and Forum, CUE2016: Low carbon cities... energy systems.

UHG EXW XQPHDVXUDEOH VWDWH SDUDPHWHUV &XUUHQWO\ GLVWULEXWHG GULYH...

,QSXW YHFWRU

)LJD 5HODWLRQVKLS EHWZHHQ ODWHUDO IRUFH DQG VOLS UDWLR E5HODWLRQVKLS