Heavy vehicle suspension parameters identification and estimation of vertical forces: experimental results
Résumé
The aim of the presented work is to estimate the vertical forces of heavy vehicle and identify the unknown dynamic parameters using sliding mode observers 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 states observation, parameters identification and forces 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.