Observation d'etats d'un vehicule pour l'estimation du profil dans les traces de roulement

Le but de cette these est la realisation d'un estimateur de profil de route base sur les observateurs non lineaires. Nous avons compare les resultats de plusieurs methodes au profil mesure par l'analyseur de profil en long (APL). Nous avons etudie dans un premier temps, la faisabilite de notre approche sur une remorque instrumentee placee sur un support statique. Nous avons alors procede a une reconstruction des signaux d'excitation constituant les entrees inconnues. Afin de developper des observateurs non lineaires, nous avons realise un modele dynamique du vehicule que nous avons valide par des essais sur la piste du LCPC de Nantes. Pour estimer les quatre traces de roulement du vehicule, plusieurs methodes basees sur l'observateur a modes glissants ont ete developpees. Dans un premier temps, tous les parametres du modele sont consideres connus. Ensuite, un observateur etendu par modes glissants permettant d'estimer les forces longitudinales du vehicule a ete developpe pour contourner le probleme de la meconnaissance des coefficients d'adherence et de glissement. Dans une troisieme approche, nous avons realise un observateur triangulaire a modes glissants afin d'obtenir une convergence en temps fini des etats, ceci permet de quantifier les quatre traces de roulement du vehicule sur la chaussee. Une etude comparative entre ces differentes methodes d'estimation utilisant les observateurs, a montre que la convergence en temps fini de l'observateur etait la meilleure facon d'estimer les profils de chaussee. Enfin, nous avons compare les reponses dynamiques du vehicule a chaque entrees de profils, issus respectivement, des observateurs et de la methode inertielle. (A).

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