基于多方法加权融合的矿用车质心侧偏角估计

李仲兴,贾英竹,耿国庆,覃夷旭,杨鑫昌

Mining truck sideslip angle estimation based on multiple methods weighted fusion

Zhongxing LI,Yingzhu JIA,Guoqing GENG,Yixu QIN,Xinchang YANG

表 2 轮胎侧向力特性参数

Tab.2 Lateral force characteristic parameters of tires

参数 数值 参数 数值 a0 1.597 a7 −0.3168 a1 −1.103 a8 0.01101 a2 819.7 a9 0.001710 a3 23340 a10 −0.1327 a4 312.1 a11 20.17 a5 0.02031 a12 −5.208 a6 0.00001942 a13 −85.30