A general and unifying presentation of the identification issues of a passenger car using the Denavit and Hartenberg robotic formalism for the modelling is given. The desired parameters are the dynamic parameters of the car and the parameters of the suspension and the tires. The kinematics and dynamic models are automatically calculated using the software package SYMORO+. The identification is based on the use of the inverse dynamic model. Parameters are estimated using a weighted least squares method. The weighting procedure is developed. Practical results are given for a 406 Peugeot car. The results show the possibility of extending robotics formalism to the mobile robots and to the ground vehicles such as passenger cars. This formalism and the use of appropriated tools allow to compute automatically the dynamic models. The inverse dynamic model can be written as a linear relation with respect to the dynamic parameters, and the use of a weighted least squares technique is not time consuming and straight forward. Good results are obtained: they have small standard deviations, they are close to the a priori values, and they are confirmed by direct and cross validation. The model has been validated and compared with respect to other dynamic models used for simulations. Nevertheless, it is important to notice that the suspension stiffness and damping coefficients are supposed to be constant. This is a rough approximation particularly for the damping coefficients. It could be better to tabulate them from data obtained by special test measurements. Further work is to extend the set of tires parameters in order to estimate tires characteristics.
Parametric identification of the car dynamics
Parameteridentifikation der Fahrzeugdynamik
2004
6 Seiten, 8 Bilder, 4 Tabellen, 13 Quellen
Conference paper
English
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