Recursive Least Square Vehicle Mass Estimation Based on Acceleration Partition

Vehicle mass is an important parameter in vehicle dynamics control systems. Although many algorithms have been developed for the estimation of mass, none of them have yet taken into account the different types of resistance that occur under different conditions. This paper proposes a vehicle mass estimator. The estimator incorporates road gradient information in the longitudinal accelerometer signal, and it removes the road grade from the longitudinal dynamics of the vehicle. Then, two different recursive least square method （RLSM） schemes are proposed to estimate the driving resistance and the mass independently based on the acceleration partition under different conditions. A 6 DOF dynamic model of four In-wheel Motor Vehicle is built to assist in the design of the algorithm and in the setting of the parameters. The acceleration limits are determined to not only reduce the estimated error but also ensure enough data for the resistance estimation and mass estimation in some critical situations. The modification of the algorithm is also discussed to improve the result of the mass estimation. Experiment data on asphalt road, plastic runway, and gravel road and on sloping roads are used to validate the estimation algorithm. The adaptability of the algorithm is improved by using data collected under several critical operating conditions. The experimental results show the error of the estimation process to be within 2.6%, which indicates that the algorithm can estimate mass with great accuracy regardless of the road surface and gradient changes and that it may be valuable in engineering applications. This paper proposes a recursive least square vehicle mass estimation method based on acceleration partition.

Voltage Security Operation Region Calculation Based on Improved Particle Swarm Optimization and Recursive Least Square Hybrid Algorithm

Large-scale voltage collapse incidences, which result in power outages over large regions and extensive economic losses, are presently common occurrences worldwide. To avoid voltage collapse and operate more safely and reliably, it is necessary to analyze the voltage security operation region(VSOR) of power systems, which has become a topic of increasing interest lately. In this paper, a novel improved particle swarm optimization and recursive least square(IPSO-RLS) hybrid algorithm is proposed to determine the VSOR of a power system. Also, stability analysis on the proposed algorithm is carried out by analyzing the errors and convergence accuracy of the obtained results. Firstly, the voltage stability and VSOR-surface of a power system are analyzed in this paper. Secondly, the two algorithms,namely IPSO and RLS algorithms, are studied individually.Based on this understanding, a novel IPSO-RLS hybrid algorithm is proposed to optimize the active and reactive power,and the voltage allowed to identify the VSOR-surface accurately. Finally, the proposed algorithm is validated by using a simulation case study on three wind farm regions of actual Hami Power Grid of China in DIg SILENT/Power Factory software.The error and accuracy of the obtained simulation results are analyzed and compared with those of the particle swarm optimization(PSO), IPSO and IPSO-RLS hybrid algorithms.

Recursive Least Squares Algorithm for a Nonlinear Additive System with Time Delay

This paper proposes a recursive least squares algorithm for a nonlinear additive system with time delay.By the Weierstrass approximation theorem and the key term separation principle, the model can be simplified as an identification model. Based on the identification model, a recursive least squares identification algorithm is used to estimate all the unknown parameters of the time-delayed additive system. An example is provided to show the effectiveness of the proposed algorithm.

Recursion Least Square Method to Study the Fault Diagnosis and Its Model of Hydraulic Equipment

In this paper establishing model of the fault diagnosis of hydraulic equipment isdescribed in details. It also studies the advantage of the recursion least square method. When theLSM is used in compuring the fault of hydraulic equipment, not only does it save the computerCPU-time and memory, but it also has a high computation speed and,makes it easy to identifythe estimation parameters.

River channel flood forecasting method of coupling wavelet neural network with autoregressive model

Based on analyzing the limitations of the commonly used back-propagation neural network （BPNN）, a wavelet neural network （WNN） is adopted as the nonlinear river channel flood forecasting method replacing the BPNN. The WNN has the characteristics of fast convergence and improved capability of nonlinear approximation. For the purpose of adapting the timevarying characteristics of flood routing, the WNN is coupled with an AR real-time correction model. The AR model is utilized to calculate the forecast error. The coefficients of the AR real-time correction model are dynamically updated by an adaptive fading factor recursive least square（RLS） method. The application of the flood forecasting method in the cross section of Xijiang River at Gaoyao shows its effectiveness.

Identification of Maximum Road Friction Coefficient and Optimal Slip Ratio Based on Road Type Recognition

The identification of maximum road friction coefficient and optimal slip ratio is crucial to vehicle dynamics and control.However,it is always not easy to identify the maximum road friction coefficient with high robustness and good adaptability to various vehicle operating conditions.The existing investigations on robust identification of maximum road friction coefficient are unsatisfactory.In this paper,an identification approach based on road type recognition is proposed for the robust identification of maximum road friction coefficient and optimal slip ratio.The instantaneous road friction coefficient is estimated through the recursive least square with a forgetting factor method based on the single wheel model,and the estimated road friction coefficient and slip ratio are grouped in a set of samples in a small time interval before the current time,which are updated with time progressing.The current road type is recognized by comparing the samples of the estimated road friction coefficient with the standard road friction coefficient of each typical road,and the minimum statistical error is used as the recognition principle to improve identification robustness.Once the road type is recognized,the maximum road friction coefficient and optimal slip ratio are determined.The numerical simulation tests are conducted on two typical road friction conditions（single-friction and joint-friction）by using CarSim software.The test results show that there is little identification error between the identified maximum road friction coefficient and the pre-set value in CarSim.The proposed identification method has good robustness performance to external disturbances and good adaptability to various vehicle operating conditions and road variations,and the identification results can be used for the adjustment of vehicle active safety control strategies.

Adaptive predictive functional control based on Takagi-Sugeno model and its application to pH process

In order to obtain accurate prediction model and compensate for the influence of model mismatch on the control performance of the system and avoid solving nonlinear programming problem,an adaptive fuzzy predictive functional control(AFPFC) scheme for multivariable nonlinear systems was proposed.Firstly,multivariable nonlinear systems were described based on Takagi-Sugeno(T-S) fuzzy models;assuming that the antecedent parameters of T-S models were kept,the consequent parameters were identified on-line by using the weighted recursive least square(WRLS) method.Secondly,the identified T-S models were linearized to be time-varying state space model at each sampling instant.Finally,by using linear predictive control technique the analysis solution of the optimal control law of AFPFC was established.The application results for pH neutralization process show that the absolute error between the identified T-S model output and the process output is smaller than 0.015;the tracking ability of the proposed AFPFC is superior to that of non-AFPFC(NAFPFC) for pH process without disturbances,the overshoot of the effluent pH value of AFPFC with disturbances is decreased by 50% compared with that of NAFPFC;when the process parameters of AFPFC vary with time the integrated absolute error(IAE) performance index still retains to be less than 200 compared with that of NAFPFC.

Extended state observer-based control with an adjustable parameter for a large ground-based telescope

The high-precision requirements will always be constrained due to the complicated operating conditions of the ground-based telescope. Owing to various internal and external disturbances, it is necessary to study a control method, which should have a good ability on disturbance rejection and a good adaptability on system parameter variation. The traditional proportional-integral(PI) controller has the advantage of simple and easy adjustment, but it cannot deal with the disturbances well in different situations. This paper proposes a simplified active disturbance rejection control law, whose debugging is as simple as the PI controller, and with better disturbance rejection ability and parameter adaptability. It adopts a simplified second-order extended state observer(ESO) with an adjustable parameter to accommodate the significant variation of the inertia during the different design stages of the telescope. The gain parameter of the ESO can be adjusted online with a recursive least square estimating method once the system parameter has changed significantly. Thus, the ESO can estimate the total disturbances timely and the controller will compensate them accordingly. With the adjustable parameter of the ESO, the controller can always achieve better performance in different applications of the telescope. The simulation and experimental verification of the control law was conducted on a 1.2-meter ground based telescope. The results verify the necessity of adjusting the parameter of the ESO, and demonstrate better disturbance rejection ability in a large range of speed variations during the design stages of the telescope.

Nonlinear Modeling and Identification of the Electro-hydraulic Control System of an Excavator Arm Using BONL Model

Electro-hydraulic control systems are nonlinear in nature and their mathematic models have unknown parameters. Existing research of modeling and identification of the electro-hydraulic control system is mainly based on theoretical state space model, and the parameters identification is hard due to its demand on internal states measurement. Moreover, there are also some hard-to-model nonlinearities in theoretical model, which needs to be overcome. Modeling and identification of the electro-hydraulic control system of an excavator arm based on block-oriented nonlinear（BONL） models is investigated. The nonlinear state space model of the system is built first, and field tests are carried out to reveal the nonlinear characteristics of the system. Based on the physic insight into the system, three BONL models are adopted to describe the highly nonlinear system. The Hammerstein model is composed of a two-segment polynomial nonlinearity followed by a linear dynamic subsystem. The Hammerstein-Wiener（H-W） model is represented by the Hammerstein model in cascade with another single polynomial nonlinearity. A novel Pseudo-Hammerstein-Wiener（P-H-W） model is developed by replacing the single polynomial of the H-W model by a non-smooth backlash function. The key term separation principle is applied to simplify the BONL models into linear-in-parameters struc^tres. Then, a modified recursive least square algorithm（MRLSA） with iterative estimation of internal variables is developed to identify the all the parameters simultaneously. The identification results demonstrate that the BONL models with two-segment polynomial nonlinearities are able to capture the system behavior, and the P-H-W model has the best prediction accuracy. Comparison experiments show that the velocity prediction error of the P-H-W model is reduced by 14%, 30% and 75% to the H-W model, Hammerstein model, and extended auto-regressive （ARX） model, respectively. This research is helpful in controller design, system monitoring and diagnosis.

Neuro-fuzzy system modeling based on automatic fuzzy clustering

A neuro-fuzzy system model based on automatic fuzzy dustering is proposed. A hybrid model identification algorithm is also developed to decide the model structure and model parameters. The algorithm mainly includes three parts：1） Automatic fuzzy C-means （AFCM）, which is applied to generate fuzzy rttles automatically, and then fix on the size of the neuro-fuzzy network, by which the complexity of system design is reducesd greatly at the price of the fitting capability; 2） R.ecursive least square estimation （RLSE）. It is used to update the parameters of Takagi-Sugeno model, which is employed to describe the behavior of the system;3） Gradient descent algorithm is also proposed for the fuzzy values according to the back propagation algorithm of neural network. Finally,modeling the dynamical equation of the two-link manipulator with the proposed approach is illustrated to validate the feasibility of the method.

EEMD and bidimensional RLS to suppress physiological interference for heterogeneous distribution in fNIRS study

Near-infrared spectroscopy(NIRS)can provide the hemodynamics information based on the hemoglobin concentration representing the blood oxygen metabolism of the cerebral cortical,which can be deployed for the cerebral function study.However,NIRS-based cerebral function detection accuracy can be signi¯cantly in°uenced by the physiological activities such as cardic cycle,respiration,spontaneous low-frequency oscillation and ultra-low frequency oscillation.The distribution difference of the capillary,artery and vein leads to the heterogeneity feature of the cerebral tissues.In the case that the heterogeneity is not serious,good detection accuracy and stable performance can be achieved through the regression analysis as the reference signal can well represent the interference in the measurement signal when conducting the multi-distance measurement approach.The direct use of the reference signal to estimate the interference is not able to achieve good performance in the case that the heterogeneity is serious.In this study,the cerebral function activity signal is extracted using recursive least square(RLS)method based on the multi-distance measurement method in which the reference signal is processed by ensemble empirical mode decomposition(EEMD)algorithm.The temporal and dimensional correlation of the neighboring sampling values are applied to estimate the interference in the measurement signal.Monte Carlo simulation based on a heterogeneous model is adopted here to investigate the effectiveness of this methodology.The results show that this methodology can effectively suppress the physiological interference and improve the detection accuracy of cerebral activity signal.

Short-term traffic flow online forecasting based on kernel adaptive filter

Considering that the prediction accuracy of the traditional traffic flow forecasting model is low,based on kernel adaptive filter(KAF)algorithm,kernel least mean square(KLMS)algorithm and fixed-budget kernel recursive least-square(FB-KRLS)algorithm are presented for online adaptive prediction.The computational complexity of the KLMS algorithm is low and does not require additional solution paradigm constraints,but its regularization process can solve the problem of regularization performance degradation in high-dimensional data processing.To reduce the computational complexity,the sparse criterion is introduced into the KLMS algorithm.To further improve forecasting accuracy,FB-KRLS algorithm is proposed.It is an online learning method with fixed memory budget,and it is capable of recursively learning a nonlinear mapping and changing over time.In contrast to a previous approximate linear dependence(ALD)based technique,the purpose of the presented algorithm is not to prune the oldest data point in every time instant but it aims to prune the least significant data point,thus suppressing the growth of kernel matrix.In order to verify the validity of the proposed methods,they are applied to one-step and multi-step predictions of traffic flow in Beijing.Under the same conditions,they are compared with online adaptive ALD-KRLS method and other kernel learning methods.Experimental results show that the proposed KAF algorithms can improve the prediction accuracy,and its online learning ability meets the actual requirements of traffic flow and contributes to real-time online forecasting of traffic flow.

Uphillshift decision strategy of an AMT off-road vehicle based on generalized road resistance coefficient

In order to improve the shift decision strategy for an off-road vehicle with automated manual transmission（AMT）,the generalized road resistance coefficient is defined based on the longitudinal dynamics analysis.Vehicle mass and generalized road resistance coefficient are estimated using the recursive least square（RLS）method with multiple forgetting factors.The improved shift schedule is designed based on the generalized road resistance coefficient under uphill road condition.The simulation and real vehicle test verify the effectiveness of improved shift strategy and the improvement of vehicle dynamic performance.

Improved fuzzy identification method based on Hough transformation and fuzzy clustering

This paper presents an approach that is useful for the identification of a fuzzy model in SISO system. The initial values of cluster centers are identified by the Hough transformation, which considers the linearity and continuity of given input-output data, respectively. For the premise parts parameters identification, we use fuzzy-C-means clustering method. The consequent parameters are identified based on recursive least square. This method not only makes approximation more accurate, but also let computation be simpler and the procedure is realized more easily. Finally, it is shown that this method is useful for the identification of a fuzzy model by simulation.

TPC-BASED STBC MULTIUSER DETECTION WITH LSE-RLS ALGORITHM

The Bit Error Rate （BER） performance of a Turbo Product Code （TPC） based Space-Time Block Coding （STBC） multiuser wireless system in the frequency-selective channels has been investigated. Both of the good error correcting capability of TPC and the large diversity gain of STBC can be achieved simultaneously. A Least Square Error-Recursive Least Square （LSE-RLS） algorithm is applied to estimate the channel and cancel the interference. Simulations show that the proposed system can obtain about 2.7dB gain in Es/N0 at the BER of 10^-3.

Analysis and implementation of FURLS algorithm for active vibration control system with positive feedback

While positive feedback exists in an active vibration control system, it may cause instability of the whole system. To solve this problem, a feedforward adaptive controller is proposed based on the Fihered-U recursive least square （FURLS） algorithm. Algorithm development process is presented in this paper. Real time active vibration control experimental tests were done. The experiment resuits show that the active control algorithm proposed in this paper has good control performance for both narrow band disturbances and broad band disturbances.

Linear Quadratic Integral Control for the Active Suspension of Vehicle

The quarter model of an active suspension is established in the form of controllable autoregressive moving average （CARMA） model. An accelerometer can be mounted on the wheel hub for measuring road disturbance; this signal is used to identify the CARMA model parameters by recursive forgetting factors least square method. The linear quadratic integral （LQI） control method for the active suspension is presented. The LQI control algorithm is fit for vehicle suspension control, for the control performance index can comprise multi controlled variables. The simulation results show that the vertical acceleration and suspension travel both are decreased with the LQI control in the low frequency band, and the suspension travel is increased with the LQI control in the middle or high frequency band. The suspension travel is very small in the middle or high frequency band, the suspension bottoming stop will not happen, so the vehicle ride quality can be improved apparently by the LQI control.

Receiver-channel based adaptive blind equalization approach for GPS dynamic multipath mitigation

Aiming at mitigating multipath effect in dynamic global positioning system （GPS） satellite navigation applications, an approach based on channel blind equalization and real-time recursive least square （RLS） algorithm is proposed, which is an application of the wireless communication channel equalization theory to GPS receiver tracking loops. The blind equalization mechanism builds upon the detection of the correlation distortion due to multipath channels; therefore an increase in the number of correlator channels is required compared with conventional GPS receivers. An adaptive estimator based on the real-time RLS algorithm is designed for dynamic estimation of multipath channel response. Then, the code and carrier phase receiver tracking errors are compensated by removing the estimated multipath components from the correlators＇ outputs. To demonstrate the capabilities of the proposed approach, this technique is integrated into a GPS software receiver connected to a navigation satellite signal simulator, thus simulations under controlled dynamic multipath scenarios can be carried out. Simulation results show that in a dynamic and fairly severe multipath environment, the proposed approach achieves simultaneously instantaneous accurate multipath channel estimation and significant multipath tracking errors reduction in both code delay and carrier phase.

Modeling and state of charge estimation of lithium-ion battery

Modeling and state of charge （SOC） estimation of lithium-ion （Li-ion） battery are the key techniques of battery pack management system （BMS） and critical to its reliability and safety operation. An auto-regressive with exogenous input （ARX） model is derived from RC equivalent circuit model （ECM） due to the discrete-time characteristics of BMS. For the time-varying environmental factors and the actual battery operating conditions, a variable forgetting factor recursive least square （VFFRLS） algorithm is adopted as an adaptive parameter identifica- tion method. Based on the designed model, an SOC estimator using cubature Kalman filter （CKF） algorithm is then employed to improve estimation performance and guarantee numerical stability in the computational procedure. In the battery tests, experimental results show that CKF SOC estimator has a more accuracy estimation than extended Kalman filter （EKF） algorithm, which is widely used for Li-ion battery SOC estimation, and the maximum estimation error is about 2.3%.

Fast Affine Projection Algorithm for Adaptive Noise Canceling and Its Application on the Fetal Electrocardiogram Extraction

Aimed at the problem of adaptive noise canceling(ANC),three implementary algorithms which are least mean square(LMS) algorithm,recursive least square(RLS) algorithm and fast affine projection(FAP) algorithm,have been researched.The simulations were made for the performance of these algorithms.The extraction of fetal electrocardiogram(FECG) is applied to compare the application effect of the above algorithms.The proposed FAP algorithm has obvious advantages in computational complexity,convergence speed and steadystate error.