The article presents a cascade control for the horizontal motion of a vehicle with single-wheel actuators. The outer control loop for the longitudinal and lateral accelerations and the yaw rate ensures a desired vehicle motion. By a combination of state feedback control and observer-based disturbance feedforward the inner control loop robustly stabilises the rotating and steering motions of the wheels in spite of unknown frictions between tyres and ground. Since the three degrees of freedom of the horizontal motion are affected by eight tyre forces, the vehicle considered is an over-actuated system. Thus additional control objectives can be realised besides the desired motion trajectory as, for example, a maximum in driving safety. The corresponding analytical tyre force allocation also guarantees real-time capability because of its relatively low computational effort. Provided suitable fault detection and isolation are available, the proposed cascade control has the potential of fault-tolerance, because the force allocation is adaptable. Another benefit results from the modular control structure, because it allows a stepwise implementation. Besides, it only requires a small number of measurements for control purposes. These measurements are the rotational speeds and steering angles of the wheels, the longitudinal and lateral acceleration and the yaw rate of the vehicle.
Zusammenfassung: Dieser Beitrag beschreibt eine modellbasierte Steuerungs-und Regelungsstruktur für die Horizontalbewegung eines Fahrzeugs mit Einzelradaktorik. Ihre Aufgabe besteht darin, eine durch Fahrervorgaben festgelegte Fahrzeugsollbewegung, charakterisiert durch Längs-und Querbeschleunigung sowie Gierrate des Fahrzeugaufbaus, mittels radindividueller Stelleingriffe zu realisieren. Die Redundanz der Stellgröẞen wird zur Maximierung der Fahrsicherheit genutzt. Das Steuerungs-und Regelungskonzept ist lediglich auf Messgröẞen angewiesen, die mit in Fahrzeugen üblichen Sensoren erfasst werden können.Abstract: This paper presents a model-based control strategy for the horizontal motion of a vehicle with singlewheel chassis actuators. Its main purpose is the realization of a desired vehicle motion, described by the vehicle's longitudinal and lateral acceleration as well as its yaw rate, by adjusting all four wheels separately. In doing so the redundant wheel actuators are used to maximize the driving safety. The approach results in a feedforward and feedback control structure which is only dependent on variables that can be measured with sensors used in a conventional vehicle.
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