An integrated chassis controller for automotive vehicle emulation

Akar, Mehmet; Kalkkuhl, Jens

doi:10.3182/20080706-5-kr-1001.01821

Cited by 3 publications

(4 citation statements)

References 9 publications

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“…These independent designs can be combined properly to mimic the behavior of a desired reference vehicle [11]. The present paper adds to our previous work [11] by examining the range of vehicles that can be emulated using the proposed framework. The rest of the paper is organized as follows.…”

Section: Introductionmentioning

confidence: 87%

“…To this end, we have developed control algorithms to be used for the emulation of lateral [4], [5], and vertical dynamics [10]. These independent designs can be combined properly to mimic the behavior of a desired reference vehicle [11]. The present paper adds to our previous work [11] by examining the range of vehicles that can be emulated using the proposed framework.…”

Section: Introductionmentioning

confidence: 90%

“…where x L = [β,ψ] T is the state vector, u L = [δ v , δ h ] T contains the steering inputs, w denotes the unmeasurable wind disturbance, and (A, B, E) are system matrices that depend on the vehicle parameters [11]. The task of the lateral controller is to help track the given reference trajectory…”

Section: Lateral Dynamics Trackingmentioning

confidence: 99%

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A sliding mode theory based chassis controller for vehicle emulation

Akar

Kalkkuhl

2008

2008 International Workshop on Variable Structure Systems

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In this paper, we investigate the emulation capabilities of an integrated chassis controller (ICC) we have designed for vehicle emulation. The proposed ICC is primarily based on sliding mode theory, and it utilizes 4-wheel automatic steering and active suspension units for emulating desired lateral and vertical motion. The performance of the ICC is evaluated by realistic experiments in an advanced nonlinear simulator, and it is seen that a broad range of ground vehicles can be emulated successfully.

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Section: Introductionmentioning

confidence: 87%

Section: Introductionmentioning

confidence: 90%

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A sliding mode theory based chassis controller for vehicle emulation

Akar

Kalkkuhl

2008

2008 International Workshop on Variable Structure Systems

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“…were σ is designated as uncertain parameter which is the function of vehicle longitudinal speed and steering wheel angle. It should be noted that, the σ in equation 16can be treated as constant parameter if the lateral acceleration of the vehicle is below 4m/s 2 (Akar et al, 2008); or it can also be a time varying parameter if the vehicle is in a non-linear manoeuvres under the critical driving conditions. To simplify the model development, it is assumed that the σ is a constant parameter and the vehicle is operated in a linear range.…”

Section: Lateral Acceleration Using Geometric 'Bicycle' Model With Pamentioning

confidence: 99%

Modelling and Simulations of a Narrow Track Tilting Vehicle

Chong

Marco

Greenwood

2016

EIRJ

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Narrow track tilting vehicle is a new category of vehicle that combines the dynamical abilities of a passenger car with a motorcycle. In the presence of overturning moments during cornering, an accurate assessment of the lateral dynamics plays an important role to improve their stability and handling. In order to stabilise or control the narrow tilting vehicle, the demand tilt angle can be calculated from the vehicle’s lateral acceleration and controlled by either steering input of the vehicle or using additional titling actuator to reach this desired angle. The aim of this article is to present a new approach for developing the lateral dynamics model of a narrow track tilting vehicle. First, this approach utilises the well-known geometry ‘bicycle model’ and parameter estimation methods. Second, by using a tuning method, the unknown and uncertainties are taken into account and regulated through an optimisation procedure to minimise the model biases in order to improve the modelling accuracy. Therefore, the optimised model can be used as a platform to develop the vehicle control strategy. Numerical simulations have been performed in a comparison with the experimental data to validate the model accuracy.

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A Passivity Based Decentralized Control Design Methodology With Application to Vehicle Dynamics Control

Villegas

Corless

Griggs

et al. 2011

Journal of Dynamic Systems, Measurement, and Control

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A basic problem in the design of control systems is the lack of simple effective methods for designing decentralized control systems that are robust with respect to certain types of structural uncertainties. Here, we present one such design methodology that is based upon the Kalman–Yakubovich–Popov Lemma. Advantages of this approach include the ease with which output feedback controllers can be designed, and the fact that the design methodology and uncertainties are expressed using classical frequency domain notions. We use our design technique to obtain an integrated chassis controller for application to automotive dynamics.

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An integrated chassis controller for automotive vehicle emulation

Cited by 3 publications

References 9 publications

A sliding mode theory based chassis controller for vehicle emulation

A sliding mode theory based chassis controller for vehicle emulation

Modelling and Simulations of a Narrow Track Tilting Vehicle

A Passivity Based Decentralized Control Design Methodology With Application to Vehicle Dynamics Control

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