Patent ID: 9637148
Date: 2017-05-02
CPC Classifications: B61F,B61L

Claim:
1. An apparatus for estimating a lateral force of a railroad vehicle, the apparatus comprising: a lateral velocity estimation observer configured to calculate a lateral velocity estimate by estimating a lateral velocity based on a vertical acceleration, a lateral acceleration, a yaw velocity, and a wheel angular velocity of the railroad vehicle; and a lateral force estimation observer configured to calculate a lateral force estimate by estimating a lateral force applied to a bogie of the railroad vehicle based on a steering angle of the railroad vehicle, a vertical force applied to the railroad vehicle, and a lateral velocity estimate calculated by the lateral velocity estimation observer, wherein the lateral velocity estimation observer includes: a vertical velocity calculator configured to calculate a vertical velocity of the railroad vehicle by averaging a front wheel angular velocity and a rear wheel angular velocity measured by a wheel sensor; and a lateral velocity estimator configured to calculate the lateral velocity estimate based on the vertical acceleration, the lateral acceleration, and the yaw velocity measured by a body sensor and further based on a vertical velocity calculated by the vertical velocity calculator.