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Global Chassis Control Based on Inverse Vehicle Dynamics Models
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering.
2006 (English)In: Vehicle System Dynamics, ISSN 0042-3114, Vol. 44, no supplement s, 321-328 p.Article in journal (Refereed) Published
Abstract [en]

This work proposes to approach global chassis control (GCC) by means of model inversion-based feedforward with allocation directly on the actuator commands. The available degrees of freedom are used to execute the desired vehicle motion while minimizing the utilization of the tyre's grip potential. This is done by sampled constrained least-squares optimization of the linearized problem. To compensate for model errors and external disturbances, high-gain feedback is applied by means of an inverse disturbance observer. The presented method is applied in a comparison of eight vehicles with different actuator configurations for steer, drive, brake and load distribution. The approach shows a transparent and effective method to deal with the complex issue of GCC in a unitized way. It gives both a base for controller design and a structured way to compare different configurations. In practice, the transparency supports automatic on-board reconfiguration in the case of actuator hardware failure.

Place, publisher, year, edition, pages
2006. Vol. 44, no supplement s, 321-328 p.
Keyword [en]
vehicle dynamics; global chassis control; inverse models; control allocation
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-6810DOI: 10.1080/00423110600871459ISI: 000244729300031ScopusID: 2-s2.0-41549129074OAI: diva2:11624
QC 20100629Available from: 2007-02-22 Created: 2007-02-22 Last updated: 2010-07-16Bibliographically approved
In thesis
1. On Generic Road Vehicle Motion Modelling and Control
Open this publication in new window or tab >>On Generic Road Vehicle Motion Modelling and Control
2006 (English)Doctoral thesis, comprehensive summary (Other scientific)
Abstract [en]

With the increased amount of on-board electric power driven by the ongoing hybridization, new ways to realize vehicles are likely to occur. This thesis outlines a future direction of vehicle motion control based on the assumptions that: 1) future vehicle development will face an increased amount of available actuators for vehicle propulsion and control that will open up for an increased variety of possible configurations, 2) the onboard computational power will continue to increase and allow higher demands on active safety and drivability that will require a tighter interaction between sensors and actuators, 3) the trend towards more individualized vehicles on common platforms with shorter time-to-market require design approaches that allow engineering knowledge to be transferred conveniently from one generation to the next.

A methodology to facilitate the selection of vehicle configurations and the design of the corresponding vehicle motion controllers is presented. This includes a method to classify and map configurations and control strategies onto their possible influence on the vehicle's motion. Further, a structured way of implementing and managing vehicle and subsystem models that are easy to reconfigure and reuse is suggested and realised in the developed VehicleDynamics Library. In addition, generic ways to evaluate vehicle configurations, especially the use of the adhesion potential to identify safety margin and expected limit behaviour are presented.

Special attention is given to how the characteristics of a vehicle configuration can be expressed so that it can be used in vehicle motion control design. A controller structure that enables a generic approach to this is introduced and within this structure, two methods for control allocation are proposed, via tyre forces and directly. The first method uses a developed mapping of available actuators as constraints onto the achievable tyre forces and inverse tyre models to calculate the actuator inputs. The second method allocates the actuator inputs directly for an adapted problem that is linearized around the current operating point. It is shown that the methods are applicable to a variety of different vehicle configurations without redesign. Therefore, the same controller can manage a variety of vehicle configurations and there is no need to recognize and treat each different situation separately.

Finally, a road map on how to continue this research towards a possible industry implementation is given. Also suggestions on more detailed improvements for modelling and vehicle motion control are provided.

Place, publisher, year, edition, pages
Stockholm: KTH, 2006
Trita-AVE, ISSN 1651-7660 ; 2006:85
National Category
Vehicle Engineering
urn:nbn:se:kth:diva-4284 (URN)978-91-7178-527-5 (ISBN)
Public defence
2007-02-23, Sal F3, KTH, Lindstedtsvägen 26, Stockholm, 10:00
QC 20100629Available from: 2007-02-22 Created: 2007-02-22 Last updated: 2011-11-10Bibliographically approved

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