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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: |
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| 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 | ||||||||
| 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: | 14 Jan 2010 23:38 |
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