Design of a Safety-Critical Drive-By-Wire System using FlexCAN

Abstract

This paper describes the design of a drive-by-wire system for a commercial lift truck using the FlexCAN communication architecture. FlexCAN is a recently developed architecture based on the CAN protocol to support deterministic and safety-critical applications. The main features of FlexCAN are its simplicity and ready implementation based on COTS CAN components. The main steer-by-wire design tasks are listed and a description of how each of the tasks was accomplished using the FlexCAN architecture is detailed. A performance evaluation of the design is included.

Second-order sliding mode controllers: an experimental comparative study on a mechatronic actuator

“…dk i is the uncertainty related to k i , representing parameter variations and uncertainties, such that, dk i j j4dk 0i 4 k 0i j j, dk 0i being a known positive bound. Hence, system (5) can be re-written as…”

“…As seen in equation (5), the actuator has numerous linear and non-linear physical parameters associated with it. The exact evaluation of these parameters through experiments is difficult and uncertainty is expected.…”

“…1,2 Mechatronic actuators or valves play an important role in the regulation of the engine air path. [3][4][5] These actuators have shorter response times and higher tracking accuracy in transient conditions; however, they are difficult to control because of their non-linear behaviour and parametric uncertainties that arise as a result of changes in temperature, external load perturbations and aero-load dynamics. [6][7][8][9][10][11] Friction plays a significant role in the creation of non-linear behaviour, causing stick-slip, dead zones and part wear.…”

An experimental comparative study of different second order sliding mode algorithms on a mechatronic actuator

“…The engine air path is an important component of the engine system, consisting of the air inlet and exhaust mechanisms and related actuators [2,3]. Mechatronic actuators allow faster response times and accuracy in transient conditions [2,4,5].…”

Experimental jitter analysis in a FlexCAN based drive-by-wire automotive application

“…The DbW application correspond to the steering and acceleration sub-systems of a re-designed commercial lift truck [12]. The FlexCAN network for this application is depicted in Fig.…”