Sliding mode disturbance observer and adaptive optimal control allocation method for stability control of road vehicles
Sliding mode disturbance observer and adaptive optimal control allocation method for stability control of road vehicles
Dosyalar
Tarih
2014
Yazarlar
Demirci, Murat
Süreli Yayın başlığı
Süreli Yayın ISSN
Cilt Başlığı
Yayınevi
Fen Bilimleri Enstitüsü
Institute of Science and Technology
Institute of Science and Technology
Özet
Bu çalışmada, yol taşıtı stabilite kontrol sistemlerinde eyleyicilerin koordinasyonu için kullanılmak üzere yeni bir uyarlamalı optimal kontrol atama metodu ile taşıt dinamik kontrolü için kayma kipli bozucu gözleyicileri önerilmiştir. Konvansiyonel kontrol atama metotlarından farklı olarak kararlılığı ve yakınsaklığı ispatlanmış bir metot önerilmekte ve bu metot ile kontrol atama optimizasyon problemlerinin her kontrolcü çevriminde çözüm gereksinimi ortadan kaldırılmaktadır. Bununla birlikte çok girişli-çok çıkışlı dinamik sistemleri birbirinden bağımsız ve birbirini etkilemeyen tek girişli-tek çıkışlı dinamik sistemlere dönüştürmek için çok girişli-çok çıkışlı kayma kipli bozucu gözleyici önerilmiş ve performansı yol taşıtı dinamik kontrol problemine uygulanarak test edilmiştir. Önerilen kayma kipli bozucu gözleyicileri ve uyarlanabilir kontrol atama metodu entegre taşıt stabilite kontrol sistemlerinin geliştirilmesinde kullanılmış ve performansları hem elektrikli araç hem de konvansiyonel araç uygulamalarıyla test edilmiştir. Önerilen algoritmalar CarSim üzerinde modellenmiş Fiat Foblo aracı üzerinde test edilmiştir. Test sonuçları göstermektedir ki, önerilen uyarlamalı kontrol atama metodu, araç stabilite kontrolünde kullanılan eyleyicileri optimal bir şekilde koordine edebilmekte ve önerilen kayma kipli bozucu gözleyiciler de modelleme ve parametre belirsizliklerine bağlı bozucular ve harici bozucuları başarılı bir şekilde engelleyebilmektedir. Ayrıca önerilen entegre taşıt stabilite kontrol sistemlerinin kritik sürüş manevralarında taşıtın stabilite ve tutunmasını sağlamada oldukça başarılı olduğu testlerle gösterilmiştir.
This study proposes a novel adaptive optimal control allocation method for coordination of the actuators in stability control of road vehicles in addition to novel sliding mode disturbance observers for yaw moment control and steering control problems in vehicle stability control. In contrary to conventional control allocation methods, the proposed control allocation method avoids the requirement of solving the optimization problem explicitly in every time step and the convergence and stability of the control allocation are guaranteed. A sliding mode MIMO disturbance observer is also introduced and applied to the decoupled control problem of four wheel active steering vehicles. The sliding mode MIMO disturbance observer is applicable to m-input m-output square MIMO uncertain systems where decoupled SISO loops are desired. The proposed sliding mode yaw moment observers and adaptive optimal control allocation method are applied to develop novel integrated vehicle stability control systems for four wheel steer four wheel drive (4WS4WD) electric vehicles and conventional road vehicles. The algorithms are tested on a Fiat Doblo Van modeled in CarSim and the test results show that the proposed control allocation method successfully coordinates the actuators in an optimal manner and the proposed sliding mode disturbance observers successfully cancels the modeling and parameter uncertainties in vehicle dynamics as well as external disturbances. Moreover, it is shown that the proposed stability control systems improve the stability and handling of road vehicles even in critical driving maneuvers.
This study proposes a novel adaptive optimal control allocation method for coordination of the actuators in stability control of road vehicles in addition to novel sliding mode disturbance observers for yaw moment control and steering control problems in vehicle stability control. In contrary to conventional control allocation methods, the proposed control allocation method avoids the requirement of solving the optimization problem explicitly in every time step and the convergence and stability of the control allocation are guaranteed. A sliding mode MIMO disturbance observer is also introduced and applied to the decoupled control problem of four wheel active steering vehicles. The sliding mode MIMO disturbance observer is applicable to m-input m-output square MIMO uncertain systems where decoupled SISO loops are desired. The proposed sliding mode yaw moment observers and adaptive optimal control allocation method are applied to develop novel integrated vehicle stability control systems for four wheel steer four wheel drive (4WS4WD) electric vehicles and conventional road vehicles. The algorithms are tested on a Fiat Doblo Van modeled in CarSim and the test results show that the proposed control allocation method successfully coordinates the actuators in an optimal manner and the proposed sliding mode disturbance observers successfully cancels the modeling and parameter uncertainties in vehicle dynamics as well as external disturbances. Moreover, it is shown that the proposed stability control systems improve the stability and handling of road vehicles even in critical driving maneuvers.
Açıklama
Tez (Doktora)-- İTÜ Fen Bilimleri Enstitüsü, 2014
Thesis (Ph.D.) -- İstanbul Technical University, Institute of Science and Technology, 2014
Thesis (Ph.D.) -- İstanbul Technical University, Institute of Science and Technology, 2014
Anahtar kelimeler
Bilgisayar Mühendisliği Bilimleri-Bilgisayar ve Kontrol,
Elektrik ve Elektronik Mühendisliği,
Mekatronik Mühendisliği,
Computer Engineering and Computer Science and Control,
Electrical and Electronics Engineering,
Mechatronics Engineering