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Modelling and parameterisation of a vehicle for validity under limit handling
KTH, Skolan för teknikvetenskap (SCI), Farkost och flyg, Fordonsdynamik.
KTH, Skolan för teknikvetenskap (SCI), Farkost och flyg.ORCID-id: 0000-0002-4048-3452
2008 (engelsk)Inngår i: Proceedings of 6th Modelica Conference, 2008Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

This paper describes how a vehicle model from the VehicleDynamics Library is configured, parameterized and validated for predicting limit handling maneuvers. Especially, attention is given to the selection of subsystem models with suitable levels-of-detail as well the selection of performed measurements and measurement equipment. A strong principle throughout the presented work is component-based design where parameterizations are done on sub-system levels, no tuning on the final vehicle models is made. As a final test, the vehicle model is exposed to a sinusoidal steering input. It turns out that the correspondence between the model used and the real vehicle is acceptable for the driving scenario selected up to the limit of adhesion.

sted, utgiver, år, opplag, sider
2008.
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-11014OAI: oai:DiVA.org:kth-11014DiVA, id: diva2:234427
Konferanse
6th Modelica Conference
Merknad

QCR 20160608

Tilgjengelig fra: 2009-09-08 Laget: 2009-09-08 Sist oppdatert: 2016-06-08bibliografisk kontrollert
Inngår i avhandling
1. Exploiting individual wheel actuators to enhance vehicle dynamics and safety in electric vehicles
Åpne denne publikasjonen i ny fane eller vindu >>Exploiting individual wheel actuators to enhance vehicle dynamics and safety in electric vehicles
2009 (engelsk)Doktoravhandling, med artikler (Annet vitenskapelig)
Abstract [en]

This thesis is focused on individual wheel actuators in road vehicles intended for vehicle motion control. Particular attention is paid to electro-mechanical actuators and how they can contribute to improving vehicle dynamics and safety. The employment of individual wheel actuators at the vehicle's four corner results in a large degree of over-actuation. Over-actuation has a potential of exploiting the vehicle's force constraints at a high level and of controlling the vehicle more freely. One important reason for using over-actuated vehicles is their capability to assist the driver to experience the vehicle as desired. This thesis demonstrates that critical situations close to the limits can be handled more efficiently by over-actuation.

To maximise the vehicle performance, all the available actuators are systematically exploited within their force constraints.  Therefore, force constraints for the individually controlled wheel are formulated, along with important restrictions that follow as soon as a reduction in the degrees of freedom of the wheel occurs. Particular focus is directed at non-convex force constraints arising from combined tyre slip characteristics.

To evaluate the differently actuated vehicles, constrained control allocation is employed to control the vehicle. The allocation problem is formulated as an optimisation problem, which is solved by non-linear programming.

To emulate realistic safety critical scenarios, highly over-actuated vehicles are controlled and evaluated by the use of a driver model and a validated complex strongly non-linear vehicle model.

it is shown that, owing to the actuator redundancy, over-actuated vehicles possess an inherent capacity to handle actuator faults, with less need for extra hardware or case-specific fault-handling strategies.

sted, utgiver, år, opplag, sider
Stockholm: KTH, 2009. s. x, 84
Serie
Trita-AVE, ISSN 1651-7660 ; 2009:33
Emneord
autonomous wheel corner, actuators, vehicle dynamics, control allocation, electric vehicles, vehicle modelling
HSV kategori
Identifikatorer
urn:nbn:se:kth:diva-11005 (URN)978-91-7415-387-3 (ISBN)
Disputas
2009-09-25, F3, Lindstedtsvägen 26, KTH, Stockholm, 10:00 (engelsk)
Opponent
Veileder
Merknad
QC 20100722Tilgjengelig fra: 2009-09-08 Laget: 2009-09-03 Sist oppdatert: 2010-07-22bibliografisk kontrollert

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