Observer design for a railway running gear with independently rotating wheels

Keck, Alexander; Schwarz, Christoph; Meurer, Thomas

doi:10.1016/j.ifacol.2019.11.695

Cited by 3 publications

(9 citation statements)

References 11 publications

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“…Here, the covariance matrices Q Q Q and R R R are optimized for two different filter algorithms, for the Extended Kalman Filter (EKF) and the Unscented Kalman Filter (UKF). The multi-case optimization set included 27 different motion scenarios, which reproduce the natural hunting motion of conventional wheelsets with three different lateral amplitudes, three running speeds v and three hunting frequencies, but are driven by active control of the IRW, see [8]. Fig.…”

Section: Observer Synthesis and Exemplary Resultsmentioning

confidence: 99%

“…The reformulation of the equations of motion of a single axle configuration in [7] leads to a system according to (1) [8]. However, the analysis process revealed two options to model the system.…”

Section: State Space Representationmentioning

confidence: 99%

“…A rigorous nonlinear analysis showed that the set-upĝ g g 3 only guarantees local observability for the reduced systemx x x 5 , which however might not be valid during acceleration or deceleration processes with high slip conditions [8]. The full order systemx x x 6 is observable with bothĝ g g 5 andĝ g g 6 , but as well relies on v = 0, which implies local observability.…”

Section: State Space Representationmentioning

confidence: 99%

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Nonlinear Observer Design for Guidance and Traction of Railway Vehicles

Heckmann

Schwarz

Keck

et al. 2020

Lecture Notes in Mechanical Engineering

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State observer design turned out to be crucial in several recent railway vehicles projects on active control and condition monitoring at DLR, but may also be useful for emerging technologies like the cyber physical system and the digital twin approach or the realization of predictive maintenance concepts. With this background and motivation the paper presents a process in three steps: (i) an initial analysis results in a physical model, (ii) the subsequent transfer to state space representation facilitates the prove of observability and (iii) the observer synthesis supports the design of the observer feedback law. Results from two projects, one related to longitudinal or traction dynamics, the other associated to the guidance task of independently rotating wheels, demonstrate the application of the observer design process and offers a comparison of observer estimates with measurements.

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Section: Observer Synthesis and Exemplary Resultsmentioning

confidence: 99%

Section: State Space Representationmentioning

confidence: 99%

Section: State Space Representationmentioning

confidence: 99%

See 1 more Smart Citation

Nonlinear Observer Design for Guidance and Traction of Railway Vehicles

Heckmann

Schwarz

Keck

et al. 2020

Lecture Notes in Mechanical Engineering

Self Cite

View full text Add to dashboard Cite

show abstract

“…The main message of the studies is that, a reliable estimation of the lateral position of the running gear is of crucial importance for the control of the lateral motion. Thus, in the previous work [1] the nonlinear system description was introduced and its observability for different sensor configurations was verified. Moreover, the suitability of each sensor configuration and system description for the design of an observer was a matter of subject.…”

Section: Problem Definitionmentioning

confidence: 99%

“…This article is motivated and partly based on our previous work [1] which is for the sake of completeness recalled in the following.…”

Section: Introductionmentioning

confidence: 99%