High-Speed Train Emergency Brake Modeling and Online Identification of Time-Varying Parameters

Table 3

Identification results of friction coefficient.

Online EM			EKF
Initial value	Identification error	Relative error (%)	Identification error	Relative error (%)
0.15	±0.0074	2.6730	±0.0173	4.9444
0.20	±0.0076	2.8845	±0.0123	3.5201
0.25	±0.0049	2.1075	±0.0182	5.2255
0.30	±0.0057	2.1446	±0.0187	5.3359
0.35	±0.0064	2.1186	±0.0179	5.1263
0.40	±0.0086	2.9561	±0.0190	5.4146
Mean	±0.0068	2.4807	±0.0172	4.9278