This work presents a new systematic solution to identify the vehicle inertia parameters which are essential inputs for vehicle simulation and vehicle safety research. In conceptual design phase of this work, a virtual three Degree-of-Freedom (DoF) test bench/ parallel manipulator (PM) whose moving platform is used to clamp vehicle under test is developed. In order to realize the kinematic characteristics of the proposed PM, the kinematic analysis consists of inverse kinematic and singularity architecture is carried out. Aiming at obtaining all ten vehicle inertia parameters (i.e., mass, center of gravity and inertia tensor), the observation matrix for parameter identification is derived from the dynamic model of PM. To get the dynamic model, the Euler’s equation and Lagrange approach are applied to implement the dynamic analysis for PM’s moving platform and actuators, respectively. It is beneficial to reduce the complexity of dynamic model and load of numerical computation. In the following section, to minimize the sensitivity of parameter identification to measurement noise, an optimization process of searching for the optimal movement trajectory of PM is proposed. For this purpose, the parameterized finite-Fourier-series are used to definite the general movement trajectory of PM firstly. Subsequently, the parameters of general trajectory are optimized by employing a nonlinear iterative algorithm. Objective of this algorithm is to obtain the minimal condition number of observation matrix and meanwhile to ensure the PM still works in the achievable working space during the test. The results show that the vehicle inertial parameters can be effectively identified by executing the single optimal movement trajectory on the PM. It is expected that the proposed systematic solution could be an important approach to improve the identification efficiency and identification accuracy of vehicle inertial parameters.
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ASME 2018 International Mechanical Engineering Congress and Exposition
November 9–15, 2018
Pittsburgh, Pennsylvania, USA
Conference Sponsors:
- ASME
ISBN:
978-0-7918-5204-0
PROCEEDINGS PAPER
Identification of Vehicle Inertia Parameters: From Test Bench Design to Movement Trajectory Optimization
Di Yao,
Di Yao
Dresden University of Technology, Dresden, Germany
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Kay Büttner,
Kay Büttner
Dresden University of Technology, Dresden, Germany
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Günther Prokop
Günther Prokop
Dresden University of Technology, Dresden, Germany
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Di Yao
Dresden University of Technology, Dresden, Germany
Kay Büttner
Dresden University of Technology, Dresden, Germany
Günther Prokop
Dresden University of Technology, Dresden, Germany
Paper No:
IMECE2018-87545, V04BT06A014; 9 pages
Published Online:
January 15, 2019
Citation
Yao, D, Büttner, K, & Prokop, G. "Identification of Vehicle Inertia Parameters: From Test Bench Design to Movement Trajectory Optimization." Proceedings of the ASME 2018 International Mechanical Engineering Congress and Exposition. Volume 4B: Dynamics, Vibration, and Control. Pittsburgh, Pennsylvania, USA. November 9–15, 2018. V04BT06A014. ASME. https://doi.org/10.1115/IMECE2018-87545
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