中国电气工程学报（英文） ›› 2023, Vol. 9 ›› Issue (4): 73-87.doi: 10.23919/CJEE.2023.000039

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  • 收稿日期:2023-05-26 修回日期:2023-08-11 接受日期:2023-08-22 出版日期:2023-12-25 发布日期:2024-01-08

Filtered High Gain Observer for an Electric Vehicle’s Electro-hydraulic Brake: Design and Optimization Using Multivariable Newton-based Extremum Seeking

Jamal El-bakkouri1,*, Hamid Ouadi2, Fouad Giri3, Mohamed Khafallah1   

  1. 1. ENSEM, Hassan II University of Casablanca, Casablanca BP 8118, Morocco;
    2. ENSAM Rabat, Mohammed V University, Rabat BP 6207, Morocco;
    3. Department of Electrical Engineering, University of Caen Normandy, Caen 14032, France
  • Received:2023-05-26 Revised:2023-08-11 Accepted:2023-08-22 Online:2023-12-25 Published:2024-01-08
  • Contact: *E-mail: jamal.elbakkouri@ensem.ac.ma
  • About author:Jamal El-bakkouri received his M.S. degree in Electrical Engineering from ENSAM, Mohammed V University of Rabat, Morocco, in 2019. He obtained a Ph.D. degree in Electrical Engineering and Automatic Control from the National High School for Electricity and Mechanics of Casablanca, Morocco, in 2023. Since 2009, he has been an Aggregate (agrégé) Professor of Electrical Engineering in preparatory classes for engineering schools.
    His research interests include the nonlinear optimization, observation, and control of dynamic systems, in particular, regenerative and electro-hydraulic braking systems for electric vehicles. He currently serves as a reviewer at the IFAC World Congress 2023.
    Hamid Ouadi received his degree as Associate Professor of Electrical Engineering from the ENS of Cachan, France, in 1995. He received his Ph.D. in Science from the Mohammedia School of Engineers of Rabat, Morocco, in 2004, and his doctoral research subject was the observation and control of asynchronous machines. He is currently a Full Professor at Mohammed V University of Rabat. He has published 1 book, 28 journal papers, and 47 conference papers.
    His research activities are focused on the control of nonlinear systems, such as the observation and control of renewable energy systems and braking/traction systems of electric vehicles. He is also active in smart-grid energy management and power electronic systems.
    Fouad Giri received a Ph.D. in Automatic Control from the National Polytechnic Institute of Grenoble, France, in 1988. He is currently a Professor at the University of Caen-Normandy, France. His research interests include nonlinear system identification, observation, and control for finite- and infinite-dimensional systems and their application to electric power systems. He has authored six books and more than 120 journal papers. He has served as Chair of the IFAC TC1.2 and Associate Editor for several journals, including Automatica, Control Engineering Practice, and IEEE Transactions on Control Systems Technology.
    Mohamed Khafallah received B.Sc., M.Sc., and Ph.D. degrees in Electrical Engineering from Hassan II University, Casablanca, in 1989, 1991, and 1995, respectively. In 1995, he joined the National High School of Electricity and Mechanics (ENSEM), Hassan II University, Casablanca, Morocco, where he is currently a Professor in the Department of Electrical Engineering and Chief of Laboratory Energy and Electrical Systems (LESE). His main research interests include applications in power electronic conversion and motor drives. He has published numerous research papers and book chapters in international journals and conference proceedings.

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Abstract: Designing high-gain observers (HGOs) for the state estimation of an electric vehicle’s electrohydraulic brake (EHB) system is challenging. This type of observer is applicable to model nonlinearities and constant feature gains. However, they are very sensitive to measurement noise, which is unavoidable in EHB. The first novelty of this study is that it compensates for the measurement noise using a filtered high-gain observer (FHGO) to ensure EHB state estimation. The proposed FHGO provides an estimate of the master cylinder pressure, motor current, and rotor speed from measurements of the rotor position. The second novelty is the design of an extremum-seeking (ES) optimization loop to adjust the FHGO gains online. The performance of the developed FHGO with ES-based online gain optimization was highlighted in the presence of model uncertainties and output measurement noise using a Matlab/Simulink simulation. The superiority of the FHGO (even with a fixed gain) over a standard high gain observer (SHGO) was also demonstrated.

Key words: Electrohydraulic brake, filtered HGO, measurement noise, optimization, extremum-seeking, Lyapunov theory