期刊
CONTROL ENGINEERING PRACTICE
卷 113, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2021.104837
关键词
System identification; Kalman filter; Vehicle dynamics; Traction
资金
- 'Sachsische Aufbaubank (SAB)', Germany, SAB-project [100333816]
Traction parameters play a central role in vehicle energy efficiency, but are difficult and costly to measure. System identification can be used to determine these parameters, and this study validates the method in field experiments for optimization of traction.
Traction parameters, that characterize the ground-wheel contact dynamics, are the central factor in the energy efficiency of vehicles. To optimize fuel consumption, reduce wear of tires, increase productivity etc., knowledge of current traction parameters is unavoidable. Unfortunately, these parameters are difficult to measure and require expensive force and torque sensors. An alternative way is to use system identification to determine them. In this work, we validate such a method in field experiments with a mobile robot. The method is based on an adaptive Kalman filter. We show how it estimates the traction parameters online, during the motion on the field, and compare them to their values determined, via a 6-directional force-torque sensor installed for verification. Data of adhesion slip ratio curves is recorded and compared to curves from literature for additional validation of the method. The results can establish a foundation for a number of optimal traction methods.
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