Sprung mass estimation for off-road vehicles via base-excitation suspension dynamics and recursive least squares

Benjamin L. Pence, Hosam K. Fathy, Jeffrey L. Stein

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Scopus citations

Abstract

This paper presents a novel method for identifying in real time the mass of an off-road vehicle using measurements of sprung and unsprung mass acceleration. The online estimate can be used for vehicle control strategies such as active safety control, traction control, and powertrain control. The online estimate is needed for vehicles whose mass varies significantly from one loading condition to another. Existing off-road mass estimation strategies that use suspension measurements typically require either known suspension force actuation or a priori knowledge of terrain characteristics. Our unique method for estimating online the mass of an offroad vehicle addresses existing limitations by applying baseexcitation concepts to make the measured unsprung mass acceleration become a known input to the recursive leastsquares estimator. We present computer simulations to demonstrate the method, and conclude that the method provides a practical solution for real-time, off-road vehicle mass estimation.

Original languageEnglish (US)
Title of host publication2009 American Control Conference, ACC 2009
Pages5043-5048
Number of pages6
DOIs
StatePublished - Nov 23 2009
Event2009 American Control Conference, ACC 2009 - St. Louis, MO, United States
Duration: Jun 10 2009Jun 12 2009

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2009 American Control Conference, ACC 2009
CountryUnited States
CitySt. Louis, MO
Period6/10/096/12/09

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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