| 摘要 |
Precise estimation of speed during the wheel slip phase is made by calculating mechanical equations of rotating parts to derive parameters of each wheel force applied to tracks, using model of vehicle from knowledge of its mass. Measurement is made of the wheel speed and the value of motor coupling or braking applied, when all the wheels slip on the running track. A calculation is made e.g. for module (A), from mechanical equations of the rotating parts and knowledge of the mechanical parameters of each wheel or group of linked wheels, in first period of time, of the force transmitted to the running track, from which by summation of the wheel assembly or groups of independent wheels, calculation is made of the total force transmitted to the running track module (B). An estimated value of the vehicles speed at any instant can then be calculated module (C), from the total force applied to the track by the mechanical model of the vehicle from a knowledge of its mass. The mass can be variable according to the vehicles load, it is then more precise to measure the suspension height of the pressure in the secondary suspension. The mass can be estimated by the module (D) from measure of the acceleration of the vehicle on flat track when wheel slip does not occur. Module (E) is used to calculate rolling resistance and module (F) is used to take into account any track slope. |
