Identification of heavy vehicle parameters and impact forces estimation: Experimental results

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. The vertical forces are then considered as perturbation to be identified. The observation needs a good knowledge of some dynamic parameters such as damping coefficient, spring stiffness...etc. In this paper, some of these parameters, namely spring stiffness and unsprung masses have been identified. Real time tests have been done on an instrumented vehicle which is equipped with different sensors in order to measure its dynamics. In order to show the quality of the estimation and identification, the estimation and identification results are then compared to the measures and presented in this paper.