1. Roads and Bridges Central Laboratory University of Versailles
09 Décembre 2003
Roads and Bridges Central Laboratory University of Versailles
Road Profiles Inputs to Evaluate Loads on the Wheels H. Imine Y. Delanne N.K. M’sirdi
04/12/2018

2. Summary Introduction Reconstruction methods Vehicle modelling
09 Décembre 2003
Summary
Introduction
Reconstruction methods
Vehicle modelling
Observation and estimation of the Road profile
Experimental results
Conclusion

3. Proposition Road profile measure Develop an easily implemented method
09 Décembre 2003
Road profile measure
Topographic measure
(Rule...)
GM Profilometer
(inertial reference)
- Difficulty implementation
- Impossibility to build up a 3D profile
Road high wave not estimated
Impossibility to build up a 3D profile
Proposition
Develop an easily implemented method
Based on non linear observers
Take into account a vehicle dynamic model

4. Vehicle road interaction
09 Décembre 2003
Introduction
Road Profile
Road Construction
Vehicle road interaction
Qualify serviceability of
road pavement
inputs of the vehicle simulator
(vehicle wheels positions)
many profiles  road surface

5. Reconstruction Methods Longitudinal Profile Analyser (APL)
09 Décembre 2003
APL measure
Laser
Accelerometer
Reconstruction by
Longitudinal Profile Analyser (APL)
Reconstruction by
Inertial Method (GMR)

6. This measurement is made by an angular displacement transducer
associated with the pendulum; the induced electrical
signal is amplified and recorded.

7. Inertial Method Profile = Z – U 09 Décembre 2003 sensor Accelero-laser
front
APL
Rear
2.92m
1.93m
0.50m
Profile = Z – U

8. Profile : APL and inertial method
09 Décembre 2003
distance Z
distance U
Profile : APL and inertial method

9. Position of the plates on the track
09 Décembre 2003
Plate on the track
Position of the plates on the track
environ 200m
39 m
10 mm 8 mm
1 m
Plate 1
Plate 2

10. Reconstruction of the two plates
09 Décembre 2003
Reconstruction of the two plates
Plates

11. PSD: inertial Method (blue) and APL (red)
09 Décembre 2003
PSD: inertial Method (blue) and APL (red)
LPA measure
Estimated
PO: low wave, MO: average wave, GO: high wave

12. 09 Décembre 2003
Vehicle modelling X Z Y θ φ

13. Sliding Mode Observer System (S) displacements of the wheels
09 Décembre 2003
Sliding Mode Observer
System (S)
displacements of the wheels
displacement of the vehicle body
roll, pitch and yaw angle

14. Principle of estimation
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Principle of estimation
u: unknown input
Y: output
Model Y u
Estimator
Observer
: estimated road profile
: observed state

15. 09 Décembre 2003
System

16. 09 Décembre 2003
Observer

17. convergence in finite time
09 Décembre 2003
Convergence analysis
convergence in finite time

18. 09 Décembre 2003
Experimental results

19. Displacements and velocities
09 Décembre 2003
Displacements and velocities

20. Estimated profile and APL measure Estimation of the plates
09 Décembre 2003
Estimated profile and APL measure
Estimation of the plates

21. Estimation of the road normal forces
09 Décembre 2003
Estimation of the road normal forces K B M F e u
Sensor y1 y2
Kri, kfi spring stiffness
Bri, Bfi damping coefficients

22. 09 Décembre 2003
Road normal force

23. 09 Décembre 2003
Conclusion
Results related to the estimation of the road profile by APL and Inertial method are given.
Sliding mode observers method constitutes a reliable and easily implemented method to estimate the road profile.
Road normal forces can be computed if the road profile under the wheel track is known and applied.

24. In our future work: Comparison with Walking Profilometer.
09 Décembre 2003
In our future work:
Comparison with Walking Profilometer.
On-line estimation of the road profile.
Extend the approach to a 3D road profile (Road surface)