A three degree of freedom vehicle dynamic model of a tractor semi trailer is established and a simulation mode is set up with the Matlab/simulink software. Then, design a Kalman state estimator, using easily measured parameters to estimate the tractor side slip angle, trailer yaw rate those are difficult measured or measuring in high cost; the simulation show that: the estimated value coming from estimator agree well with the simulation measurements, and can improve the estimation accuracy by adjusting the process noise covariance matrix and measurement noise covariance matrix.
Soft Measurement Technology for Tractor-Semi Trailer
Applied Mechanics and Materials ; 494-495 ; 821-824
2014-02-06
4 pages
Article (Journal)
Electronic Resource
English
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