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확장 칼만 필터를 이용한 자동변속기 차량의 구동토크 관측기 설계
한경석(Kyoungseok Han),최세범(Seibum Choi) 한국자동차공학회 2014 한국자동차공학회 부문종합 학술대회 Vol.2014 No.5
Ride quality of vehicles is very closely concerned with smooth clutch control and it has been improved by accurate estimation of clutch torque or output shaft torque. Unfortunately, Torque sensors or high precision encoders for rotating shafts are seldom used in production cars because of their costs, maintenances and installations. So, it is required to estimate drive shaft torque with accessible values such as wheel rotate speed, engine rotate speed. In this paper, Extended Kalman Filter(EKF) is used to estimate shaft torque because of applicable to nonlinear systems and characteristics of its robustness to model uncertainties. Well known driveline model was used to construct observers and then observers are validated with Carsim and Matlab/Simulink which is well known as a vehicle dynamic simulator.