Sensitivity Analysis and Fisher-Information Matrix for a Dynamic Model of a Turntable Ladder
Bernd Müller, Bernhard Rolle, Oliver Sawodny · IFAC-PapersOnLine · 2022
A digital twin for turntable ladders increases the efficiency of the development process and especially the parameterization of the already established active damping control. Therefore, the goal of this paper is to derive a precise dynamic model of a turntable ladder. Large forces acting on the vehicle cause flexible deformation like twisting of the chassis. A multibody system representing the chassis and support structure of the vehicle is considered and the dynamics are derived by using the Lagrange formalism. The conducted sensitivity analysis reveals that not all parameters can be identified with the measurable outputs of that system. Hence, the Fisher-Information Matrix (FIM) is used to determine less sensitive parameters. By several assumptions, the amount of different parameters is reduced yielding a modified dynamic system with identifiable parameter set.