Non-linear Kalman Filter Estimation for Active Steering of Profiled Rail-wheels
نویسندگان
چکیده
This paper presents a study of state estimation for active steering of profiled wheels. Fundamental characteristics of a solid-axle wheelset are explained and the potential benefits of active steering are discussed. The paper studies the non-linearity of the wheelset caused by profiled wheel-rail contact surfaces and develops a recursive non-linear Kalman filter to provide reliable and accurate estimations of the wheelset state. Real wheel and rail profiles are used in the study and a non-linear model is developed to represent the wheelset. Computer simulations are used to verify the design and assess its performance. Copyright 2002 IFAC Keyword: Active Control, State estimation, Railway wheelset, Wheel-rail profiles, Kalman filter, Non-linear system
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