Designing physically realizable state observer for estimating the kinematic parameters of the road train

International Scientific-technical Conference on Innovative Engineering Technologies, Equipment and Materials 2016

工业技术;机械制造;材料科学

Volkov, V.G.^1,2 ; Demyanov, D.N.^1

Naberezhnye Chelny Institute, Kazan Federal University, Syuyumbike 10A, rNaberezhnye Chelny, Russia^1

Scientific and Technical Center of PJSC KAMAZ, Transportnyi proezd 70, Naberezhnye Chelny, Russia^2

关键词: Kinematic parameters;    Lateral displacements;    Lateral motion;    Linear dynamic system;    Longitudinal velocity;    Rotation angles;    State observer;    State variables;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/240/1/012067/pdf
DOI  :  10.1088/1757-899X/240/1/012067

来源: IOP

【 摘 要 】

In this paper the observability of state variables of the linear dynamic system, describing truck and semitrailer lateral motion on a high constant longitudinal velocity and minor rotation angles of steered wheels, is analyzed. The synthesis of a physically implementable reduced state observer for estimation of immeasurable state variables on the lateral displacement magnitude of the vehicle's frontal part is realized.