Feed-forward control of a vehicle with single-wheel actuators

Moseberg, Jan-Erik; Roppenecker, GÃ1⁄4nter

doi:10.3182/20140824-6-za-1003.00283

Cited by 4 publications

(3 citation statements)

References 6 publications

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“…At t = 1 s the driver operates the brake pedal. As a consequence the feedforward controller taken from [18] demands a longitudinal deceleration a xs = −5 m/s 2 resulting in desired motion trajectories according to Figure 10. Subsequently, a μ-split situation occurs from t = 2 s to t = 5 s. The friction coefficients μ 1 and μ 3 on the left side of the vehicle correspond to the assumed values μ 1d = μ 3d = 1.…”

Section: Simulative Validation Of the Cascade Control During Heavy Brmentioning

confidence: 99%

“…Equation (18) constitutes an analytic expression for the tyre forces. This reduces the computational effort so that the algorithm for the tyre force allocation is real-time capable.…”

Section: Tyre Force Allocation Allowing For Actuator Failuresmentioning

confidence: 99%

“…Unlike [7] it allows a stepwise implementation, which is a consequence of its modular structure. A feedforward controller, for example, [18] generates the reference trajectory y Hs of the vehicle motion together with corresponding forces and moments F Hs . The outer horizontal dynamics controller realises the desired vehicle motion in spite of external disturbances.…”

Section: Introductionmentioning

confidence: 99%

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Robust cascade control for the horizontal motion of a vehicle with single-wheel actuators

Moseberg

Roppenecker

2015

Vehicle System Dynamics

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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.

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Section: Simulative Validation Of the Cascade Control During Heavy Brmentioning

confidence: 99%

“…Equation (18) constitutes an analytic expression for the tyre forces. This reduces the computational effort so that the algorithm for the tyre force allocation is real-time capable.…”

Section: Tyre Force Allocation Allowing For Actuator Failuresmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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