Friction coefficient estimation using an unscented Kalman filter

Yunshi Zhao, Bo Liang, Simon Iwnicki

Research output: Contribution to journalConference articlepeer-review

27 Citations (Scopus)


The friction coefficient between a railway wheel and rail surface is a crucial factor in maintaining high acceleration and braking performance of railway vehicles; therefore, monitoring this friction coefficient is important. Due to the difficulty in directly measuring the friction coefficient, the creep force or creepage, indirect methods using state observers are used more frequently. This paper presents an approach using an unscented kalman filter to estimate the creep force and creepage and the friction coefficient from traction motor behaviours. A scaled roller rig is designed and a series of experiments is carried out to evaluate the estimator performance.

Original languageEnglish
Pages (from-to)220-234
Number of pages15
JournalVehicle System Dynamics
Issue numberSUPPL. 1
Early online date5 Mar 2014
Publication statusPublished - 30 May 2014
Event23rd IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks - Qingdao, China
Duration: 19 Aug 201323 Aug 2013
Conference number: 23


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