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Robust Observation of Tractor-trailer Vertical Forces Using Inverse Model and Exact Differentiator

Journal Article
2010-01-0637
ISSN: 1946-3979, e-ISSN: 1946-3987
DOI: https://doi.org/10.4271/2010-01-0637
Published April 12, 2010 by SAE International in United States
Robust Observation of Tractor-trailer Vertical Forces Using Inverse Model and Exact Differentiator
Sector:
Citation: Khemoudj, O., Imine, H., and Djemai, M., "Robust Observation of Tractor-trailer Vertical Forces Using Inverse Model and Exact Differentiator," SAE Int. J. Mater. Manuf. 3(1):278-289, 2010, https://doi.org/10.4271/2010-01-0637.
Language: English

Abstract:

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 .