Vertical Tire Forces Estimation of Multi-Axle Trucks Based on an Adaptive Treble Extend Kalman Filter

Abstract

Vertical tire forces are essential for vehicle modelling and dynamic control. However, an evaluation of the vertical tire forces on a multi-axle truck is difficult to accomplish. The current methods require a large amount of experimental data and many sensors owing to the wide variation of the parameters and the over-constraint. To simplify the design process and reduce the demand of the sensors, this paper presents a practical approach to estimating the vertical tire forces of a multi-axle truck for dynamic control. The estimation system is based on a novel vertical force model and a proposed adaptive treble extend Kalman filter (ATEKF). To adapt to the widely varying parameters, a sliding mode update is designed to make the ATEKF adaptive, and together with the use of an initial setting update and a vertical tire force adjustment, the overall system becomes more robust. In particular, the model aims to eliminate the effects of the over-constraint and the uneven weight distribution. The results show that the ATEKF method achieves an excellent performance in a vertical force evaluation, and its performance is better than that of the treble extend Kalman filter.

Test and Simulation Study on the Static Load and Pure Longitudinal Slip Characteristics of Non-Pneumatic Tire

“…Before optimizing the design, a mechanism analysis was performed first. Generally, radial tire forces are essential for vehicle modeling and dynamic control, so it is necessary to analyze the radial force of the tire in detail [28]. It can be seen that the load-bearing modes of non-pneumatic tires were bottom loading and top loading [29].…”

Research on High-Speed Catamaran Motion Reduction with Semi-Active Control of Flexible Pontoon

“…This innovation, illustrated in Figure 1, effectively minimizes the impact of wave excitation on the main cabin by providing a mechanism for buffering and absorbing irregular wave forces. The vessel features two inflatable flexible pontoons made of PVC sandwich fabric, which resemble car tires [23]. These pontoons serve a dual purpose: firstly, they provide the necessary buoyancy for the entire vessel, akin to the supporting force exhibited by tires; secondly, they function as a vibration isolation and buffer mechanism.…”

“…See Table 1. The vessel features two inflatable flexible pontoons made of PVC sandwich fabric, which resemble car tires [23]. These pontoons serve a dual purpose: firstly, they provide the necessary buoyancy for the entire vessel, akin to the supporting force exhibited by tires; secondly, they function as a vibration isolation and buffer mechanism.…”

Dynamic Load Analysis of Mine-Truck Using Multibody Dynamic Analysis Method

“…Zheng et al (2014), reported the Failure analysis of the Mining dump truck frame, considering the various path holes, obstacles, slope and curves on the bumpy road by combing the FEA, as well as static and dynamic testing [5]. Zhang et al (2021), reported a practical approach to estimating the vertical tire forces of a multi-axle truck for dynamic control. MATLAB/Simulink and Trucksim software are used, which can simulate a real truck used in the heavy vehicle industry [6].…”

“…Zhang et al (2021), reported a practical approach to estimating the vertical tire forces of a multi-axle truck for dynamic control. MATLAB/Simulink and Trucksim software are used, which can simulate a real truck used in the heavy vehicle industry [6]. Guan et al (2018) reported the use of MSC ADAMS software for pavement design based on a multi-rigid-body dynamics model to calculate the force & displacements [7].…”