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

2011 ◽  
Vol 134 (1) ◽  
Author(s):  
Carlos Villegas ◽  
Martin Corless ◽  
Wynita Griggs ◽  
Robert Shorten
Keyword(s):  
Control Systems ◽  
Decentralized Control ◽  
Output Feedback ◽  
Vehicle Dynamics ◽  
Design Methodology ◽  
Basic Problem ◽  
Control Design ◽  
Feedback Controllers ◽  
Structural Uncertainties ◽  
Vehicle Dynamics Control

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.

Direct Longitudinal Force Feedback for High-Performance Vehicle Dynamics Control Systems

2021 ◽  
Author(s):  
Giorgio Riva ◽  
Luca Mozzarelli ◽  
Matteo Corno ◽  
Simone Formentin ◽  
Sergio M. Savaresi
Keyword(s):  
Model Predictive Control ◽  
Control Systems ◽  
Predictive Control ◽  
Vehicle Dynamics ◽  
High Performance ◽  
Force Feedback ◽  
Longitudinal Force ◽  
Spiral Path ◽  
Comparable Performance ◽  
Vehicle Dynamics Control

Abstract State of the art vehicle dynamics control systems do not exploit tire road forces information, even though the vehicle behaviour is ultimately determined by the tire road interaction. Recent technological improvements allow to accurately measure and estimate these variables, making it possible to introduce such knowledge inside a control system. In this paper, a vehicle dynamics control architecture based on a direct longitudinal tire force feedback is proposed. The scheme is made by a nested architecture composed by an outer Model Predictive Control algorithm, written in spatial coordinates, and an inner longitudinal force feedback controller. The latter is composed by four classical Proportional-Integral controllers in anti-windup configuration, endowed with a suitably designed gain switching logic to cope with possible unfeasible references provided by the outer loop, avoiding instability. The proposed scheme is tested in simulation in a challenging scenario where the tracking of a spiral path on a slippery surface and the timing performance are handled simultaneously by the controller. The performance is compared with that of an inner slip-based controller, sharing the same outer Model Predictive Control loop. The results show comparable performance in presence of unfeasible force references, while higher robustness is achieved with respect to friction curve uncertainties.

Micromechanical sensors for vehicle dynamics control systems

ATZ worldwide ◽  
2005 ◽  
Vol 107 (11) ◽  
pp. 16-19
Author(s):  
Johannes Schier ◽  
Rainer Willig ◽  
Klaus Miekley
Keyword(s):  
Control Systems ◽  
Vehicle Dynamics ◽  
Micromechanical Sensors ◽  
Vehicle Dynamics Control

scholarly journals Multi-Body Integrated Vehicle-Occupant Models for Collision Mitigation and Vehicle Safety using Dynamics Control Systems

2016 ◽  
Vol 5 (2) ◽  
pp. 80-122 ◽  
Author(s):  
Mustafa Elkady ◽  
Ahmed Elmarakbi ◽  
John MacIntyre ◽  
Mohamed Alhariri
Keyword(s):  
Control Systems ◽  
Vehicle Dynamics ◽  
Vehicle Body ◽  
Occupant Behaviour ◽  
Lumped Mass ◽  
Vehicle Collision ◽  
Kinematic Behaviour ◽  
Collision Mitigation ◽  
Multi Body ◽  
Vehicle Dynamics Control

The aim of this paper is to investigate the effect of vehicle dynamics control systems (VDCS) on both the collision of the vehicle body and the kinematic behaviour of the vehicle's occupant in case of offset frontal vehicle-to-vehicle collision. A unique 6-Degree-of-Freedom (6-DOF) vehicle dynamics/crash mathematical model and a simplified lumped mass occupant model are developed. The first model is used to define the vehicle body crash parameters and it integrates a vehicle dynamics model with a vehicle front-end structure model. The second model aims to predict the effect of VDCS on the kinematics of the occupant. It is shown from the numerical simulations that the vehicle dynamics/crash response and occupant behaviour can be captured and analysed quickly and accurately. Furthermore, it is shown that the VDCS can affect the crash characteristics positively and the occupant behaviour is improved.

Application of MIMO Data Driven Feedback Control Design to Dual Stage Hard Disk Drives

2020 ◽  
Author(s):  
Prateek Shah ◽  
Zhi Chen ◽  
Roberto Horowitz
Keyword(s):  
Feedback Control ◽  
Frequency Response ◽  
Design Methodology ◽  
Hard Disk Drives ◽  
Control Design ◽  
Hard Disk ◽  
Data Driven ◽  
Disk Drives ◽  
Feedback Controllers ◽  
Dual Stage

Abstract With increasing data density on hard disk drives, there is need to develop more robust and better performing track following control systems. We present a multi-input multi-output (MIMO) data driven feedback control design methodology. The design considers multiple frequency response measurements of all actuators, simultaneously, ensuring robustness of the control design system. A mixed H2 – H∞ norm locally convex optimization algorithm is used to synthesize the feedback controllers for MIMO systems. Feedback controllers are developed for dual stage hard disk drives using the MIMO data driven control design technique. A dual stage hard disk drive comprises of two actuators in series, controlling a read/write head onto a rotating disk. Our objective is to stabilize the closed loop of the actuators and minimize the error position signal of the read/write head. H2 norm and H∞ norm control objectives are used to formulate the MIMO data driven control problem. The design is based on a set of five frequency response measurements of the two actuators. We also compare the MIMO design methodology to a single-input multi-output (SIMO) design methodology presented earlier [1].

Thermal Analysis and Fabrication of Split Shoe Drum Brake

2017 ◽  
Vol 867 ◽  
pp. 239-244
Author(s):  
Sivam Duraisivam ◽  
E. Jamuna
Keyword(s):  
Thermal Analysis ◽  
Control Systems ◽  
Active Control ◽  
Vehicle Dynamics ◽  
Brake Shoe ◽  
Drum Brake ◽  
Braking Force ◽  
Solid Works ◽  
Air Brake System ◽  
Vehicle Dynamics Control

Active control of vehicle dynamics has become one of the top competitive features in today’s automobiles. Vehicle dynamics control systems include effective brakes and the number of life loss has been increased due to the in effective brakes. To reduce the crashing of vehicles caused by the braking disability by overcoming the drawbacks of the conventional braking system.Brakes are employed to stop or slow down the speed of the vehicle depending upon the driving needs. When brake applied, each wheel of the vehicle builds-up a certain braking force. For this reason, greater the number of wheels braked, greater will be the braking effect, and sooner the vehicle comes to halt. With this in mind the existing air brake system of a 6 wheeler is studied and analyzed. Brake shoe assembly is completely modeled using solid works and the analysis of the brake shoe assembly is carried out in Ansys .The results are analyzed . Then redesigned brake shoe assembly is modeled in solid works and analyzed with certain changes as required.

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