摘要：AbstractRecent control and stabilization algorithms in driving security systems are based on the knowledge of vertical vehicle dynamics. In this article, a new methodology to estimate wheel-ground contact normal forces is presented. The proposed method use measurements from available sensors, like accelerometers, to update the static vertical forces while the vehicle is performing a mission, and suspension deflection sensors to determine the initial weight distribution. The primary goal of this study is the estimation of wheel-ground contact normal forces accurately while diminishing its dependence on the deflection sensors. One characteristic of this approach is the initial weight computation on each tire based on a multi-model technique and the Kalman filter. The algorithm’s response is validated with wheel force transducers measurements from a real experiment.
关键词：KeywordsWheel-Ground Contact Force EstimationMulti-Model TechniqueKalman FilterGround Vehicle Dynamics
