Tyre-force estimation by Kalman inverse filtering: applications to off-highway mining trucks |
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Authors: | P M Siegrist P R Mcaree |
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Institution: |
a Cooperative Research Centre for Mining (CRCMining), Australia
b Division of Mechanical Engineering, The University of Queensland, Australia |
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Abstract: | 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. |
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Keywords: | Kalman filter Tyre force Mining truck dynamics State estimation ADAMS modelling |
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