A method for inertia tensors and centres of masses identification on symmetric precessions

Abstract

A knowledge of the inertia tensors and centre of gravity locations of rigid bodies and rigid mechanical systems is required in precise control of motion and in many other applications whenever the dynamics of them is significantly determined by these inertia parameters. This paper presents a new method for identifying the inertia tensor and coordinates of the centre of mass of a rigid body or of a rigid mechanical system. The proposed method is based on the work-energy principle and provides high accuracy of identification even on devices with essential dissipation. The tensor and centre of gravity location are defined on a single spherical motion -symmetric precession. The paper gives a survey of existing inertia parameter identification methods, the theoretical fundamentals of the proposed identification method, the hybrid identification device and data processing procedure with error estimation on dissipative systems using proposed and classical methods.

Parametric identification of inertial parameters

“…Denote by T = (J(ϕ) + Iλ 2 1 )Ω 2 /2 the kinetic energy of the system, where J(ϕ) is the moment of inertia of the body adduced to phase vector [Ω, ϕ], and I = const is the moment of inertia relative to the axis Oz 1 of the outer frame. From (5) it follows that the formulas for the moments of inertia reduced to Ω for three axes of the icosahedron J k ≡ J(ϕ k ):…”

“…The inertia tensor of the body at the point can be determined on six axial rotation, or on spherical motions [10]. A survey of current experimental identification methods could be found in [5,14,15,17,24]. A common practice for nonexperimental estimation of rigid body inertia parameters is computation of them using CAD software [23].…”

Parametric identification of reaction wheel pendulums with adaptive control

“…In this article, we present a new adaptive method for identifying inertial parameters of solids on special symmetrical program motions. The method uses an energy approach Andrievsky, 2006,Fradkov andAndrievsky, 2004] and is based on an energy algorithm [Alyshev et al, 2015,Melnikov, 2012,Dudarenko et al, 2014. This algorithm uses a two-step reversible symmetric motion, containing two motions with approximately equal energy dissipation.…”

Novel Measurement Method for Determining Mass Characteristics of Pico-Satellites

“…When the standard workpiece is not loaded, the moment of inertia of the measurement system is J uz . According to Equation (17), the moment of inertia of the standard workpiece (J bz ) can be obtained. The simulation results of the standard workpiece are summarized in Table 9.…”

“…A test platform was designed and the measurement error of the test platform was analyzed. Dudarenko et al [17] presented a novel method to identify the moment of inertia and centroid of a rigid body applied to the work-energy principle. They proposed methods to process data and estimate system error.…”