Journal of Jilin University(Engineering and Technology Edition) ›› 2019, Vol. 49 ›› Issue (6): 1795-1801.doi: 10.13229/j.cnki.jdxbgxb20180853

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Measurement of inertial parameters of rotating inertia rig

Yang WANG(),Zhan⁃shuai SONG,Kong⁃hui GUO(),Ye ZHUANG   

  1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
  • Received:2018-08-14 Online:2019-11-01 Published:2019-11-08
  • Contact: Kong?hui GUO E-mail:yangwang@jlu.edu.cn;guokh@khat.com.cn

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Abstract:

To solve the problem of struggling to obtain the inertial parameters of complex mechanical systems, the static equations for solving the coordinates of the center of mass and the dynamic equations for solving the inertia parameters are established respectively on the basis of studying the computational dynamics of inertial parameters. In order to eliminate the influence of friction on identification accuracy, a series of experimental methods are proposed, including pre?adjusting the moving direction of the platform, eliminating the positive and negative friction forces at the same angle, processing the experimental data by data filtering and data fitting to eliminate the high frequency noise and harmonic noise of the data. Finally, the recursive least square method is used to identify the coordinates of the center of mass and inertia tensors, and the validity of the method is verified by experiments. The test platform can test the inertia parameters of automobile parts such as engine and powertrain.

Key words: vehicle engineering, inertial parameter, parameter identification, calculation method

CLC Number: 

  • U461

Fig.1

Inertial parameters measuring rig"

Fig.2

Motion diagram"

Fig.3

Inertial parameters measuring rig"

Fig.4

Inertial parameters measuring rig"

Fig.5

Pitch motion Y direction force signal"

Fig.6

Pitch motion Z direction force signal"

Fig.7

Data graph of roll motion"

Fig.8

Inertia moment Ixx "

Table 1

Comparison of theoretical and measured inertial parameters"

惯性参数 理论值A 测量值A 理论值B 测量值B
质量/kg 427.381 428.050 427.381 428.080
质心X坐标/m -0.016 -0.012 -0.016 -0.015
质心Y坐标/m -0.010 -0.009 0.0010 0.010
质心Z坐标/m 0.450 0.452 0.450 0.452
惯量Ixx/（kg·m2） 30.947 28.240 30.952 30.435
惯量Iyy/（kg·m2） 100.145 101.432 100.140 94.744
惯量Izz/（kg·m2） 125.236 123.322 125.236 123.119
惯性积Ixy/（kg·m2） -1.96 -0.176 1.959 0.518
惯性积Ixz/（kg·m2） -0.476 -3.503 -0.476 -2.719
惯性积Iyz/（kg·m2） -0.285 -2.383 0.285 1.390
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