特种重型车辆惯性参数测量方法仿真分析

Simulation Analysis of Inertial Parameter Measurement Method for Special Heavy Vehicle

针对目前特种重型车辆惯性参数测量方法的不足,提出了一种运用俯仰-侧倾二自由度倾斜的方法来实现其惯性参数的测量。基于力、力矩平衡和多体动力学方程,建立了惯性参数测量数学模型,利用递推最小二乘法完成了质心和惯性矩及惯性积的辨识。通过仿真得到测量动平台角速度、角加速度和驱动器受力曲线,通过理论值与仿真值对比验证了该理论模型的可靠性。为特种重型车辆惯性参数的测量方法提供了重要的参考价值。

Aiming at the shortcomings of the current measurement methods of inertia parameters of special heavy vehicles,a method of pitch-roll two degrees of freedom tilt was proposed to realize the measurement of its inertia parameters.Based on the force,moment balance and multibody dynamics equations,a mathematical model for inertial parameter measurement was established,and the recursive least square method was used to complete the identification of the mass center,moment of inertia,and inertial product.The angular velocity,angular acceleration,and actuator force curve of the moving platform were measured through simulation.The reliability of the theoretical model was verified by comparing the theoretical value with the simulation value.It provides important reference value for the measurement method of inertia parameters of special heavy vehicles.