Heavy vehicle suspension parameters identification and estimation of vertical forces: experimental results

Abstract

The aim of the present work is to estimate the vertical forces of heavy vehicle and identify the unknown dynamic parameters using sliding mode observer approach. This observation needs a good knowledge of dynamic parameters such as damping coefficient, spring stiffness, etc. In this paper, suspension stiffness and unsprung masses have been identified. Experimental results carried out on an instrumented tractor have been presented in order to show the quality of the state observation, parameters identification and force estimation. These estimation results are then compared to the measured one coming from the sensors installed in the tractor. Many scenarios have been tested. In this paper, the results coming from zigzag test have been shown and commented.

Keywords:

• heavy vehicle modelling
• vertical forces
• sliding mode observer
• identification

This work was developed by the French IFSTTAR Laboratory (ex LCPC: Laboratoire Central des Ponts et Chausséees) in collaboration with French industrial partners, Renault Trucks, Michelin and Sodit in the framework of French project VIF. This work was supported by the French Ministry of Industry and the Lyon Urban Trucks & Bus competitiveness cluster; the authors gratefully acknowledge their contributions.