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)

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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>

Keywords: Kalman filter; Tyre force; Mining truck dynamics; State estimation; ADAMS modelling

Document Type: Research article

DOI: http://dx.doi.org/10.1080/00423110600784959

Affiliations: 1: Division of Mechanical Engineering, The University of Queensland, Australia

Publication date: 2006-12-01