This paper proposes a method to estimate road profile which is considered as unkown inputs of the heavy vehicle. The knowledge of these inputs is very important in the vehicle dynamics analysis and allows to calculate the vertical forces under each wheel. The first step of the work consists in developing a heavy vehicle model which is validated using PROSPER's simulator. Then, a second and third order sliding mode observers is developed in order to estimate the vehicle states and the road profile inputs. The particularity of the third order observer consists in estimating all states of the system including accelerations in finite time. The setting of an etimator needs a model. In this work, a half tractor's model with four degrees of freedom is then developed and validated by PROSPER's simulator. In the second step of the work, and in order to be able to use observers, the strong observability of the system is verified. Since this property is verified, the observers are constructed in the following step. Different simulations are done to compare the two observers. We show that the suspension deflections, the roll angle and its velocities and accelerations converge quickly and in finite time. This well estimation allows us to reconstruct the acceleration of the centre of gravity height of the body and the acceleration of the wheels. This allows also to estimate well and fastly the vertical displacements of the wheels. The simulation results show an accurate reconstruction of the road profile with respect to the PROSPER's simulator results.
Road profile estimation in heavy vehicle dynamics simulation
Straßenprofilabschätzung bei Simulationen in der Schwerfahrzeugdynamik
International Journal of Vehicle Design ; 47 , 1-4 ; 234-249
2008
16 Seiten, 13 Bilder, 15 Quellen
Aufsatz (Zeitschrift)
Englisch
Road profile estimation in heavy vehicle dynamics simulation
Kraftfahrwesen | 2008
|Road profile estimation in heavy vehicle dynamics simulation
Online Contents | 2008
|Road profile input estimation in vehicle dynamics simulation
Taylor & Francis Verlag | 2006
|Road profile input estimation in vehicle dynamics simulation
Online Contents | 2006
|Road profile input estimation in vehicle dynamics simulation
Kraftfahrwesen | 2006
|