Simplified Procedure of Sensitivity-Based Parameter Estimation of Multibody Systems with Experimental Validation

摘要

The paper presents a method for estimating the parameters of multi-body systems whose motion is limited in a relative range. Recent published methods handle a general problem configuration, consequently, require massive mathematical computations or very complex symbolic manipulations. This paper demonstrates a simple form for calculating the sensitivity of multibody systems, in which the derivative terms of the governing equations with respect to the generalized coordinates and velocity is smaller than the derivative terms with respect to the design and unknown parameters. The verification of the procedure is carried out by laboratory experiment that demonstrates the parameter estimation of a double pendulum as a multibody system with definite constraints manifold. It is found that the proposed form of the sensitivity speeds up the extensive mathematical manipulations of parameter estimation procedure.