A Cross Iteration Estimator with Base Vector for Estimation of Electric Mining Haul Truck's Mass and Road Grade
A Cross Iteration Estimator with Base Vector for Estimation of Electric Mining Haul Truck's Mass and Road Grade
复制标题
用于估计电动矿用运输卡车质量和道路坡度的带有基向量的交叉迭代估计器
DOI：
10.1109/tii.2018.2794513
复制
发表时间：
2018-01
影响因子：
12.3
通讯作者：
Yingjie Zhang
中科院分区：
文献类型：
--
作者：
Yingjie Zhang
Vehicle mass and road grade are important to traction control and safety control of electric mining haul trucks (EMHTs), especially to autonomous EMHTs. This paper proposes a base-vector based cross iteration estimator (BVCIE) to simultaneously estimate the vehicle mass and the road grade for EMHTs. To develop the estimator, the dynamics model for EMHTs is first built and the unknown parameters are identified by the recursive least square. Then the estimator is proposed by selecting a base vector from the parameters to be estimated, and by using a cross iteration strategy to update older information. This estimator is based on the ideology that the total mass of EMHT is a constant in every travelling trip. The estimator is finally validated on different loads under different road conditions with 930E. The experimental results show that both the vehicle mass and the road grade can be estimated with good accuracy.
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影响因子：
2.4
作者：
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通讯作者：
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影响因子：
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作者：
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R. Eglash
DOI：
10.1115/dscc2012-movic2012-8762
发表时间：
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期刊：
--
影响因子：
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