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DYNAMIC IDENTIFICATION OF A VIBRATORY ASPHALT COMPACTOR FOR CONTACT EFFORTS ESTIMATION

2006; Elsevier BV; Volume: 39; Issue: 1 Linguagem: Inglês

10.3182/20060329-3-au-2901.00155

2589-3653

Charles-Eric Lemaire, Pierre‐Olivier Vandanjon, Maxime Gautier, Charles Lemaire,

Robotic Mechanisms and Dynamics

This paper deals with the dynamic modelling of a vibratory asphalt compactor. A compactor is a machine of road building site. The aim of the study is to estimate contact efforts between the drums of the compactor and asphalt. Robotic formalism is used to model the compactor as an articulated mechanical system. This robotic model is adapted to our system of measurement. In this way, it is sufficient to model drums to estimate contact efforts. The model is linear according to a set of dynamic parameters which can be identified using a Weighted Least Squares method. The identification is carried out through dedicated experiments where contact efforts were known. Thus, parameters are identified. During a real worksite, it has been possible for the first time to estimate contact efforts applied by a compactor.