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Tyre-force estimation by Kalman inverse filtering: applications to off-highway mining trucks

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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 truck’s parameters.

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

Document Type: Research Article


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

Publication date: December 1, 2006


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