In this paper, we are interested in developing a robust tire-force estimator for heavy duty vehicles. We use a combined model of the articulated vehicle: a yaw plane model for the chassis motion and a vertical plane model for the axles. In the proposed method, we make use of the on-board available sensors to which low-cost sensors are added. In order to optimize the sensors configuration, a robust exact differentiator is used in order to obtain accelerations from the measured velocities. Once the differentiation is obtained, the model is inverted to determine the unknown input forces. The approach is validated by comparing the estimation results to those given by the software simulator prosper .
Robust Observation of Tractor-trailer Vertical Forces Using Inverse Model and Exact Differentiator
Sae Int. J. Mater. Manuf
Sae International Journal of Materials and Manufacturing
SAE 2010 World Congress & Exhibition ; 2010
Sae International Journal of Materials and Manufacturing ; 3 , 1 ; 278-289
2010-04-12
12 pages
Conference paper
English
Robust observation of tractor-trailer vertical forces using inverse model and exact differentiator
Automotive engineering | 2010
|British Library Conference Proceedings | 2010
|Semi-trailer tractor main vehicle and semi-trailer tractor
European Patent Office | 2023
|