The invention provides a driving wheel longitudinal force estimation method based on wheel speed Kalman filtering-LESO. The method comprises the steps that S1, an unmanned mine car driving wheel speed filter is designed based on a Kalman filter to filter the wheel speed of a driving wheel; and S2, designing a linear expansion observer of the wheel speed of the driving wheel of the unmanned mine car, and obtaining the longitudinal force of the driving wheel in combination with the wheel speed of the driving wheel output in the step S1. According to the method disclosed by the invention, the longitudinal force of the driving wheel of the unmanned mine car is estimated by utilizing the linear expansion observer LESO after the KF noise reduction based on the wheel speed, so that the estimation value precision of the longitudinal force of the driving wheel is improved.
本发明提出了一种基于轮速卡尔曼滤波‑LESO的驱动轮纵向力估计方法,包括:步骤S1、基于卡尔曼滤波器设计无人驾驶矿车驱动轮轮速滤波器对驱动轮轮速进行滤波处理;步骤S2、设计无人驾驶矿车驱动轮轮速的线性扩张观测器,并结合步骤S1输出的驱动轮轮速获取驱动轮纵向力。本发明基于轮速卡尔曼滤波KF降噪后,利用线性扩张观测器LESO对无人驾驶矿车驱动轮的纵向力的估计,从而提高了驱动轮纵向力的估计值精度。
Driving wheel longitudinal force estimation method based on wheel speed Kalman filtering-LESO
基于轮速卡尔曼滤波-LESO的驱动轮纵向力估计方法
2025-02-25
Patent
Electronic Resource
Chinese
Driving wheel longitudinal force estimation method based on sliding mode observer
European Patent Office | 2025
|Longitudinal speed estimation method for four-wheel drive vehicle
European Patent Office | 2023
|Longitudinal Wheel Slip Estimation
Springer Verlag | 2010
|