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MODELICA vehicle dynamics library: Implementation of driving maneuvers and a controller for active car steering

Heller, S. and Bünte, T. (2003) MODELICA vehicle dynamics library: Implementation of driving maneuvers and a controller for active car steering. In: 3rd International Modelica Conference, Linköping, Sweden, November 3-4, pp. 19-28. Modelica 2003, 2003, Amsterdam.

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Official URL: http://www.modelica.org/Conference2003/papers/h09_Heller.pdf

Abstract

This paper deals with the assessment and exploitation of the recently released MODELICA-based vehicle dynamics library. A setup of various driving maneuvers is accomplished. These maneuvers will be conducted by providing steering angle and gas/brake position to the car model of the library. The common linearized single track model is derived as an approximative model for the fully detailed vehicle dynamics model. This model is used for synthesis of feedforward control and later also as a nominal model for active car steering control aiming at vehicle dynamics stability improvement. The applied robust steering controller structure is known as the disturbance observer. Simulations are used to demonstrate the effectiveness of the vehicle dynamics enhancement in comparison to the uncontrolled vehicle. Also some experiences with the vehicle dynamics library are pointed out.

Document Type:Conference or Workshop Item (Paper)
Additional Information:LIDO-Berichtsjahr=2003,
Title:MODELICA vehicle dynamics library: Implementation of driving maneuvers and a controller for active car steering
Authors:
AuthorsInstitution or Email of Authors
Heller, S.UNSPECIFIED
Bünte, T.UNSPECIFIED
Date:2003
Journal or Publication Title:3rd International Modelica Conference, Linköping, Sweden, November 3-4
Page Range:pp. 19-28
Status:Published
Keywords:Modelica, Vehicle Dynamics Library, Vehicle Dynamics Simulation, Active Car Steering Control
Event Title:Modelica 2003
Event Location:Amsterdam
Event Type:international Conference
Event Dates:2003
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Aircraft Research
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Flexible Aircraft (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: elib DLR-Beauftragter
Deposited On:16 Sep 2005
Last Modified:12 Dec 2013 20:02

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