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.


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    Title :

    Soft Measurement Technology for Tractor-Semi Trailer



    Published in:

    Publication date :

    2014-02-06


    Size :

    4 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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