Experimental identification of inertial and friction parameters for electro-hydraulic motion simulators

Chun Ta Chen*, Jyh Chyang Renn, Zong Yuan Yan

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

24 Citations (Scopus)


The fullness of dynamics equations and the degree of uncertainty in dynamic parameters are important factors in application of the identified models to model-based control strategies. Therefore, in this paper, the experimental identification of inertial parameters and friction coefficients are dealt with for an electro-hydraulic motion simulator, normally consisting of the Stewart platform. The model with arbitrary geometry, inertia distribution and frictions are obtained based on a structured Boltzmann-Hamel-d'Alembert formulation, and then the estimation equations are explicitly expressed in terms of a linear form with respect to the base parameters of minimal dimension to be identified. The identified parameters are obtained through solving the estimation equations by simple least square method. Moreover, exciting trajectories are also designed respectively in the actuating space and task space. Finally, the identified parameters are used to validate the developed model by comparing the predicted forces with respect to the actuating forces for a random trajectory.

Original languageEnglish
Pages (from-to)1-10
Number of pages10
Issue number1
Publication statusPublished - 2011 Feb
Externally publishedYes


  • Boltzmann-Hamel-d'Alembert formulation
  • Experimental identification
  • Least squares method
  • Motion simulator
  • Servo-hydraulics
  • Stewart platform

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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