부산대학교 도서관

The inverse problems to characterize the material dynamical parameters have attracted much attention from the mechanical engineering field in recent years. Online estimation of the unknown contact environment plays a key role in the overall dynamical analyses of the mechanical systems. The Lankarani-Nikravesh (L-N) contact force model, which is proven to be more consistent with the physics of contact, is employed to describe the contact process in this paper. However, the existing challenges in the identification of nonlinear systems have severely limited the use of this model for online application. In this paper, the Unscented Kalman Filter (UKF) is used to identify the mechanical parameters of the L-N contact force model. Some simulation examples are used to demonstrate the validity of the UKF.