Vehicle longitudinal dynamics control based on LQ

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00332652" target="_blank" >RIV/68407700:21230/19:00332652 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1109/PC.2019.8815044" target="_blank" >http://dx.doi.org/10.1109/PC.2019.8815044</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/PC.2019.8815044" target="_blank" >10.1109/PC.2019.8815044</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Vehicle longitudinal dynamics control based on LQ

Popis výsledku v původním jazyce

Trend of autonomous vehicles and e-mobility is in favor of an advanced control system development and deployment. Vehicle dynamics level control systems providing safety limits and high performance response, especially during high dynamics maneuvers, are necessary. This work provides solution for vehicle longitudinal dynamics (vehicle acceleration) considering physical limits given by road, tire and vehicle dynamics respectively. The goal is to maximize vehicle longitudinal acceleration by controlling each wheel longitudinal slip ratio. Considered mathematical model is non-linear single track model incorporating non-linear Pacejka magic formula as a tire model. Design model for control system is derived as a linearized state-space model at constant acceleration operation point. Therefore, the common linearization approach, at system equilibrium, is not possible and the linearization along system trajectory is used. Such solution results in involvement of LPV techniques, as vehicle velocity is state variable. Finally, the LQ optimal control framework is employed to deliver control algorithms providing constant vehicle acceleration trajectory tracing. This is accomplished by longitudinal slip ratio control for each wheel.

Název v anglickém jazyce

Vehicle longitudinal dynamics control based on LQ

Popis výsledku anglicky

Trend of autonomous vehicles and e-mobility is in favor of an advanced control system development and deployment. Vehicle dynamics level control systems providing safety limits and high performance response, especially during high dynamics maneuvers, are necessary. This work provides solution for vehicle longitudinal dynamics (vehicle acceleration) considering physical limits given by road, tire and vehicle dynamics respectively. The goal is to maximize vehicle longitudinal acceleration by controlling each wheel longitudinal slip ratio. Considered mathematical model is non-linear single track model incorporating non-linear Pacejka magic formula as a tire model. Design model for control system is derived as a linearized state-space model at constant acceleration operation point. Therefore, the common linearization approach, at system equilibrium, is not possible and the linearization along system trajectory is used. Such solution results in involvement of LPV techniques, as vehicle velocity is state variable. Finally, the LQ optimal control framework is employed to deliver control algorithms providing constant vehicle acceleration trajectory tracing. This is accomplished by longitudinal slip ratio control for each wheel.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/GA19-18424S" target="_blank" >GA19-18424S: Distribuované řízení formací vozidel a síťových systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the 22nd International Conference on Process Control

ISBN

978-1-7281-3758-2

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

179-184

Název nakladatele

IEEE

Místo vydání

Piscataway, NJ

Místo konání akce

Štrbské Pleso

Datum konání akce

11. 6. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000539039300032