Estimation of Sideslip Angles of a Volvo A25E Articulated All-Wheel Drive Hauler Based on GPS/INS Measurements

Andersson, Ulf; Bortolin, Gianantonio; Backén, Staffan; Gustafsson, Thomas

doi:10.4271/2011-01-2156

Cited by 3 publications

(2 citation statements)

References 6 publications

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“…Slip angles are also helpful. The slip angles are not measured, although they can be estimated [24]. Hence we look for relations (4) that do not depend on slip angles.…”

Section: Kinematic Model Of An Articulated Haulermentioning

confidence: 99%

“…GPS receivers and ground speed radars are examples of sensors that can be used to estimate or measure the ground speed. With a two-antenna GPS reciever, one antenna on the tractor unit and one on the trailer, it is possible to estimate wheel slip angles [24]. Note that the 1 Hz sample rate of a GPS is rather slow, but the ground speed can be assumed piece-wise constant.…”

Section: E Ground Speed Sensormentioning

confidence: 99%

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Automatic traction control for articulated off-road vehicles

Markdahl¹

2021

Preprint

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Construction equipment is designed to maintain good traction, even when operating in difficult off-road conditions. To curb wheel slip, the vehicles are equipped with differential locks. A driver may engage/disengage the locks to switch between two distinct operating modes: the closed mode is characterized by greater off-road passability while the open mode allows better manueverability. However, many drivers lack the education and experience required to correctly judge the terrain ahead of the vehicle and therefore engage/disengage the locks in a suboptimal fashion. An automatic traction control solution for locking and opening the differentials is hence desirable. This paper compares three on/off differential lock control algorithms, all derived from the same kinematic vehicle model but each relying on the availability of output signals from different sensors. The validity of the kinematic model and the algorithms' sensitivity to the values assumed by a couple of unobservable states, the wheel slip angles, is investigated by comparison to a realistic articulated hauler model in the multibody physics simulator MSC ADAMS.

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“…Slip angles are also helpful. The slip angles are not measured, although they can be estimated [24]. Hence we look for relations (4) that do not depend on slip angles.…”

Section: Kinematic Model Of An Articulated Haulermentioning

confidence: 99%

Section: E Ground Speed Sensormentioning

confidence: 99%