Implementation in embedded systems of state observers based on multibody dynamics

Abstract

Simulation has become an important tool in the industry that minimizes either the cost and time of new products development and testing. In the automotive industry, the use of simulation is being extended to virtual sensing. Through an accurate model of the vehicle combined with a state estimator, variables that are difficult or costly to measure can be estimated. The virtual sensing approach is limited by the low computational power of invehicle hardware due to the strictest timing, reliability and safety requirements imposed by automotive standards. With the new generation hardware, the computational power of embedded platforms has increased. They are based on heterogeneous processors, where the main processor is combined with a co-processor, such as Field Programmable Gate Arrays (FPGAs). This thesis explores the implementation of a state estimator based on a multibody model of a vehicle in new generation embedded hardware. Different implementation strategies are tested in order to explore the advantages that an FPGA can provide. A new state-parameter-input observer is developed, providing accurate estimations. The proposed observer is combined with an efficient multibody model of a vehicle, achieving real-time execution.