Michael Fleps-Dezaße
German Aerospace Center (DLR), Institute of System Dynamics and Control, Wessling, Germany
Jakub Tobolá r
German Aerospace Center (DLR), Institute of System Dynamics and Control, Wessling, Germany
Johannes Pitzer
German Aerospace Center (DLR), Institute of System Dynamics and Control, Wessling, Germany
Ladda ner artikel
http://dx.doi.org/10.3384/ecp14096283Ingår i: Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden
Linköping Electronic Conference Proceedings 96:29, s. 283-292
Publicerad: 2014-03-10
ISBN: 978-91-7519-380-9
ISSN: 1650-3686 (tryckt), 1650-3740 (online)
In this paper two semi-physical models of the semi-active dampers of the DLR robotic electric vehicle ROboMObil (ROMO) are described and their implementation in Modelica is presented. Besides the damper characteristics and hysteresis; the models additionally consider the gas force and cover the differences of the damper characteristics for compression and rebound. A procedure to identify the damper model parameters was implemented using the DLR Optimization library. The measurement data used for parameter identification was recorded during experiments on a damper test bench. The simulation results of the damper models are compared to the experiment data of the semi-active damper and the suitability of the damper models with respect to accuracy and real-time simulation is discussed.
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