Extended Kalman Filter in 2S1 Tracked Vehicle System with Hybrid Control

Abstract

The essence of the undertaken topic is the problem of estimation of state vector in the model of 2S1 tracked vehicle suspension system through the use of Extended Kalman Filter. The use of non-linear filter has become necessary due to the magnetorheological damper located at suspension system, which has been described by hyperbolic model. Application of the damper caused the tested suspension system has become a semi-active structure in which the hybrid control was applied. The choice of this type of control stems from the fact that in the case of tracked combat vehicles in addition to the advantageous conditions of work of vehicle crew also cornering stability and the possibility of sudden acceleration or braking is important. The hybrid control allows to determine a compromise between ride comfort and stability of 2S1 platform.