A method for estimation of vehicle inertial parameters

Abstract

In this paper, a new method is presented for estimating the current sprung mass inertial parameters of a vehicle, such as the mass, pitch and roll mass moments of inertia, and lateral and longitudinal centre of gravity locations. The method measures the sprung mass response when the vehicle is driven over an unknown and unmeasured random road profile. From these measurements, the equivalent free-decay responses are extracted and modal analysis techniques used to estimate the sprung mass natural frequencies, damping ratios and mode shapes. This information is combined with a simplified vehicle estimation model, least squares analysis and known equivalent stiffness parameters to estimate the vehicles’ inertial parameters. The results obtained from several simulation examples show that estimates of the inertial parameters generally have small relative errors.

Keywords:

• estimation of inertial parameters
• vehicle dynamic model
• vehicle system parameter identification
• experimental modal analysis
• least squares estimation

Acknowledgements

This work is supported by the ARC Centre of Excellence programme and a Discovery Project (DP 0773415) that are funded by the Australian Research Council.