Nonlinear Observers based on the Functional Mockup Interface with Applications to Electric Vehicles

Abstract

At DLR, an innovative electric vehicle is being developed that requires advanced, nonlinear control systems for proper functioning. One central aspect is the use of nonlinear observers for several modules. A generic concept was developed and implemented in a prototype to automatically generate a nonlinear observer model in Modelica, given a continous (usually nonlinear) Modelica model of the physical system to be observed. The approach is based on the Functional Mockup Interface (FMI), by exporting the model in FMI format and importing it agian in a form that enables the application of different observer designs, like EKF and UKF nonlinear Kalman Filters. The approach is demonstrated at hand of an observer for the nonlinear battery model of the electric vehicle of DLR.