Parameter identification method for multibody systems incorporating the adjoint method and feature extraction based on the proper orthogonal decomposition
Many mechanical systems such as vehicles, robots and space structures are comprised of a lot of interconnected components. The motion of the components is constrained because of mechanical joints or specified motion trajectories. Multibody dynamics is one of effective methods to analyze nonlinear dy...
| Main Authors: | , , |
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| Format: | Article |
| Language: | Japanese |
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The Japan Society of Mechanical Engineers
2023-07-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/89/924/89_23-00039/_pdf/-char/en |
| _version_ | 1827802257403412480 |
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| author | Ryoya NISHI Kensuke HARA Hiroshi YAMAURA |
| author_facet | Ryoya NISHI Kensuke HARA Hiroshi YAMAURA |
| author_sort | Ryoya NISHI |
| collection | DOAJ |
| description | Many mechanical systems such as vehicles, robots and space structures are comprised of a lot of interconnected components. The motion of the components is constrained because of mechanical joints or specified motion trajectories. Multibody dynamics is one of effective methods to analyze nonlinear dynamic behavior for such systems. On the other hand, it is quite difficult to obtain all parameters required for numerical simulation by only direct measurement in complex mechanical systems. Therefore, parameter estimation and identification techniques are crucial for simulation in practical problems. This study aims to develop a parameter estimation technique based on the adjoint method which can be applied to mathematical models used in the multibody dynamics, namely, differential algebraic equations. In addition, a feature extraction technique based on the proper orthogonal decomposition is incorporated into the parameter estimation method in order to evaluate effect of model uncertainties on an accuracy of the parameter estimation, because the joint components often involve model uncertainties due to inherent physical characteristics such as friction, contact and so on. The validity of the present method is discussed by numerical experiments using the rigid multibody systems. |
| first_indexed | 2024-03-11T20:36:15Z |
| format | Article |
| id | doaj.art-5dbea543977645a9a375a229767d95a9 |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-03-11T20:36:15Z |
| publishDate | 2023-07-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-5dbea543977645a9a375a229767d95a92023-10-02T06:05:26ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612023-07-018992423-0003923-0003910.1299/transjsme.23-00039transjsmeParameter identification method for multibody systems incorporating the adjoint method and feature extraction based on the proper orthogonal decompositionRyoya NISHI0Kensuke HARA1Hiroshi YAMAURA2Sumitomo Heavy Industries Material Handling Systems Co., Ltd.School of Engineering, Yokohama National UniversitySchool of Engineering, Tokyo Institute of TechnologyMany mechanical systems such as vehicles, robots and space structures are comprised of a lot of interconnected components. The motion of the components is constrained because of mechanical joints or specified motion trajectories. Multibody dynamics is one of effective methods to analyze nonlinear dynamic behavior for such systems. On the other hand, it is quite difficult to obtain all parameters required for numerical simulation by only direct measurement in complex mechanical systems. Therefore, parameter estimation and identification techniques are crucial for simulation in practical problems. This study aims to develop a parameter estimation technique based on the adjoint method which can be applied to mathematical models used in the multibody dynamics, namely, differential algebraic equations. In addition, a feature extraction technique based on the proper orthogonal decomposition is incorporated into the parameter estimation method in order to evaluate effect of model uncertainties on an accuracy of the parameter estimation, because the joint components often involve model uncertainties due to inherent physical characteristics such as friction, contact and so on. The validity of the present method is discussed by numerical experiments using the rigid multibody systems.https://www.jstage.jst.go.jp/article/transjsme/89/924/89_23-00039/_pdf/-char/enmultibody dynamicsparameter identificationadjoint methodproper orthogonal decompositionmodel uncertainty |
| spellingShingle | Ryoya NISHI Kensuke HARA Hiroshi YAMAURA Parameter identification method for multibody systems incorporating the adjoint method and feature extraction based on the proper orthogonal decomposition Nihon Kikai Gakkai ronbunshu multibody dynamics parameter identification adjoint method proper orthogonal decomposition model uncertainty |
| title | Parameter identification method for multibody systems incorporating the adjoint method and feature extraction based on the proper orthogonal decomposition |
| title_full | Parameter identification method for multibody systems incorporating the adjoint method and feature extraction based on the proper orthogonal decomposition |
| title_fullStr | Parameter identification method for multibody systems incorporating the adjoint method and feature extraction based on the proper orthogonal decomposition |
| title_full_unstemmed | Parameter identification method for multibody systems incorporating the adjoint method and feature extraction based on the proper orthogonal decomposition |
| title_short | Parameter identification method for multibody systems incorporating the adjoint method and feature extraction based on the proper orthogonal decomposition |
| title_sort | parameter identification method for multibody systems incorporating the adjoint method and feature extraction based on the proper orthogonal decomposition |
| topic | multibody dynamics parameter identification adjoint method proper orthogonal decomposition model uncertainty |
| url | https://www.jstage.jst.go.jp/article/transjsme/89/924/89_23-00039/_pdf/-char/en |
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