文章基本信息

标题：A Novel Real-Time Center of Gravity Estimation Method for Wheel Loaders with Front/Rear-Axle-Independent Electric Driving
本地全文：下载
作者：Zhiyu Yang ; Jixin Wang ; Yunwu Han 等
期刊名称：Journal of Control Science and Engineering
印刷版ISSN：1687-5249
电子版ISSN：1687-5257
出版年度：2021
卷号：2021
页码：1-11
DOI：10.1155/2021/6621060
出版社：Hindawi Publishing Corporation
摘要：Estimation of the center of gravity (CG) is the basis for intelligent control of the front-and-rear-axis-independent electric driving wheel loaders (FREWLs). This paper presents a novel real-time method for estimating the CG of FREWLs, which is suitable for driving and spading conditions on bumpy roads. A FREWL dynamical model is proposed to set up the state-space model. The CG estimator is used to estimate the longitudinal tire force using the state-space model and the improved square-root unscented Kalman filter (ISR-UKF) algorithm. The simulation and experimental results indicate that this method is suitable for FREWL dynamics and operational characteristics, and the estimated value of CG basically converges to the reference value. Finally, the probable reasons for error occurring in two experiments and the practical challenges of this method are discussed. The research in this paper establishes a partial theoretical basis for intelligent control of construction machinery.