Simulation validation, experimental results and performance of mass parameter estimation algorithm

A set of figures containing the simulation validation, experimental results, simulation results, and performance analysis for a mass parameter estimation algorithm implemented online on a four-wheeled road vehicle. The estimation algorithm is implemented online and runs in real time, with the computational cost minimised. Mass and centre of mass location are estimated accurately using measured data and represent changes in these parameters accurately over various load cases and scenarios. Limitations seen in moment arm estimation are mitigated through the implementation of Process Noise Covariance Scheduling (PCNS), where estimation of these parameters can be enabled and disabled depending on the information available for estimation, thus making estimates more reliable. Mass moment of inertia estimation as implemented requires further development but allows for adjustment of the parameters based on changes in mass, thus offering an improvement over assuming these parameters to be constant.