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Optimized Force Allocation - A General Approach to Control and to Investigate the Motion of Over-Actuated Vehicles

Knobel, Christian and Pruckner, Alfred and Bünte, Tilman (2006) Optimized Force Allocation - A General Approach to Control and to Investigate the Motion of Over-Actuated Vehicles. In: Mechatronics 2006. 4th IFAC Symposium on Mechatronic Systems, 2006-09-12 - 2006-09-14, Heidelberg.

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Abstract

A general approach is introduced to allocate the forces acting on the center of gravity to the four wheels of a vehicle by using an inversion of vehicle dynamics and non-linear optimization. This makes it possible to compare all useful configurations of actively and passively controlled influencing variables of vehicle dynamics (steering angles, brake/ drive torques, wheel loads and camber angles), with and without actuator dynamics and to investigate the impact of actuator failures on vehicle dynamics.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Optimized Force Allocation - A General Approach to Control and to Investigate the Motion of Over-Actuated Vehicles
Authors:
AuthorsInstitution or Email of Authors
Knobel, ChristianUNSPECIFIED
Pruckner, AlfredUNSPECIFIED
Bünte, TilmanUNSPECIFIED
Date:2006
Journal or Publication Title:Mechatronics 2006
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Force Allocation, Non-linear Optimization, Vehicle Dynamics, Global Chassis Control, Tyre Contact Patch, Adhesion Potential Utilization, Tyre Based Vehicle Dynamics Control
Event Title:4th IFAC Symposium on Mechatronic Systems
Event Location:Heidelberg
Event Type:international Conference
Event Dates:2006-09-12 - 2006-09-14
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:V SH - Verbesserung der Sicherheit im Verkehr (old)
DLR - Research area:Transport
DLR - Program:V SH - Verbesserung der Sicherheit im Verkehr
DLR - Research theme (Project):V - ViFa (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > System Dynamics and Control (former Control Design Engineering)
Deposited By: Monika Klauer
Deposited On:10 Nov 2008
Last Modified:12 Dec 2013 20:21

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