Tyre-force estimation by Kalman inverse filtering: applications to off-highway mining trucks
Authors: Siegrist, P. M.; Mcaree, P. R.
Source: Vehicle System Dynamics, Volume 44, Number 12, December 2006 , pp. 921-937(17)
Publisher: Taylor and Francis Ltd
Abstract:<p>Kalman inverse filtering is used to develop a methodology for real-time estimation of forces acting at the interface between tyre and road on large off-highway mining trucks. The system model formulated is capable of estimating the three components of tyre-force at each wheel of the truck using a practical set of measurements and inputs. Good tracking is obtained by the estimated tyre-forces when compared with those simulated by an ADAMS virtual-truck model. A sensitivity analysis determines the susceptibility of the tyre-force estimates to uncertainties in the truckâ-™s parameters.</p>
Document Type: Research article
Publication date: 2006-12-01