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An unscented Kalman filter-based rolling radius estimation methodology for railway vehicles with traction

Monitoring the conditions of railway vehicle systems plays an important role in the maintenance of safety and performance of railway vehicles. Rolling radius is one of the properties that should be monitored continuously for the predictive maintenance of a railway vehicle since it changes with time due to wheel wear. In this study, a model-based condition monitoring methodology, which is based on an unscented Kalman filter, is proposed. The model includes the torsional dynamics of an independently rotating tram wheel with a traction motor and a contact model. The rolling radius is estimated by considering the traction effort of the motor and the angular velocity measurements. The proposed methodology is tested on a tram wheel test stand (roller rig), which has a wheel on roller configuration. First, a mathematical model is validated by the measurements taken from the test stand. Second, the unscented Kalman filter is applied as a parameter estimator. The results demonstrate that the proposed scheme is a promising option to be used in the predictive condition monitoring of the wheel profile for traction vehicles.