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Vehicle Mass Estimation for Hydraulic Drive System using Longitudinal Motion Model

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


Original languageEnglish
Title of host publicationThe Fourteenth Scandinavian International Conference on Fluid Power, SICFP15
PublisherTampere University of Technology. Department of Intelligent Hydraulics and Automation
Number of pages10
ISBN (Electronic)978-952-15-3530-7
Publication statusPublished - May 2015
Publication typeA4 Article in a conference publication
EventScandinavian International Conference on Fluid Power -
Duration: 1 Jan 1900 → …

Publication series

NameThe Fourteenth Scandinavian International Conference on Fluid Power, SICFP15
ISSN (Electronic)2342-2726


ConferenceScandinavian International Conference on Fluid Power
Period1/01/00 → …


The real-time mass estimation of the vehicle is applied for the machine with the hydraulic drive system. The mass estimation is based on the longitudinal drive model comprising the model of hydraulic drive transmission. The resistance forces of the longitudinal motion such as the air drag, rolling resistance and
friction of the drive system are modelled. The actual mass of the vehicle is deduced from the measured hydraulic torque and from the force causing the acceleration. As the aerodynamic drag, rolling resistance, road grade load and transmission losses have a significant share from the total drive torque, the effects of these forces are taken account. Further, the estimated mass data is classified by recognising operation conditions where the mass estimation is accurate. After a short acceleration-deceleration period, the measured signals provide enough data for estimating the mass of the vehicle. The experimental tests are run with a middle-size wheel loader and with a typical work cycle resulting ±5% accuracy from the real mass. Furthermore, the proposed model and recognition of the operation conditions are applicable to estimate also other vehicle parameters such as friction force or road grade.


  • Longitudinal motion, mass estimation, hydraulic drive system, wheel loader

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