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DYNAMIC MODELLING AND IDENTIFICATION OF A CAR
Gentiane Venture* Wisama Khalil**
Maxime Gautier** Philippe Bodson*
* P.S.A. Peugeot Citroën – Direction Plates-formes, Techniques et Achats
Route de Gisy – 78943 Vélizy-Villacoublay – France
venture@mpsa.com bodson@mpsa.com
** Institut de recherche en Communications et Cybernétique de Nantes (IRCCyN)
1, rue de la Noë – B.P. 92101 – 44321 Nantes Cedex 3 – France
Wisama.Khalil@irccyn.ec-nantes.fr Maxime.Gautier@irccyn.ec-nantes.fr
The aim of this paper is to give a general and unifying presentation of the modelling issues of a car. The modelling is based on the modified Denavit-Hartenberg geometric description, which is commonly used in robotics. The kinematics and dynamic models are automatically calculated using the software SYMORO. The dynamic model is used to simulate the behaviour of the car and to identify the dynamic parameters. Primarily experimental results on the dynamic identification of a real car are given.
Keywords: parameter identification, automobiles, dynamic modelling, least squares
Session slot T-Fr-M12: Vehicle Dynamics and Control/Area code 8b : Automotive Control
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