Identification of the Dynamic Parameters of a Car: Simulation and Experimental Results

Abstract This paper presents a dynamic modelling of a car using robotic formalism in order to estimate the dynamic parameters of a car and more particularly the dynamic parameters of the chassis and the suspensions. The inverse dynamic model is used to identify the dynamic parameters of the car. They are estimated using a weighted least squares method. Both simulation and experimental results are given for a 406 Peugeot car.

[1]  Maxime Gautier.  Dynamic identification of robots with power model , 1997, Proceedings of International Conference on Robotics and Automation.

[2]  Hans B. Pacejka,et al.  Magic Formula Tyre Model with Transient Properties , 1997 .

[3]  Wisama Khalil,et al.  SYMORO+: A system for the symbolic modelling of robots , 1997, Robotica.

[4]  Wisama Khalil,et al.  A new geometric notation for open and closed-loop robots , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[5]  M. Gautier.  Numerical calculation of the base inertial parameters of robots , 1991, J. Field Robotics.

[6]  Wisama Khalil,et al.  Direct calculation of minimum set of inertial parameters of serial robots , 1990, IEEE Trans. Robotics Autom..

[7]  William F. Milliken,et al.  Race Car Vehicle Dynamics , 1994 .