Abstract:
Estimating the wheel camber error is a challenging
task without attaching an additional sensors or mechanisms on
the Electrical vehicles. Almost all the electrical automobiles are
using several combinations of sensors to detect the camber errors,
toe in/out errors and other wheel conditions measurements.
This paper introduces a simple method to identify the camber
and toe in/out error using disturbance observer(DOB) without
using any additional sensors or mechanisms. Proposed concept
is practically demonstrated by using a differential drive mobile
robot. The Wheeled mobile robot (WMR) is commanded to run
on a predefined path and torque profile is observed to identify
whether wheels of the vehicles are misaligned.
