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Andreasson, Johan and Bünte, Tilman (2005) Global Chassis Control Based on Inverse Vehicle Dynamics Models. In: Supplement to Vehicle System Dynamics (44). 19th IAVSD Symposium, 2005-08-29 - 2005-09-02, Milan (Italy).
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Abstract
This work proposes to approach Global Chassis Control (GCC) by means of model inversion based feedforward with allocation directly on the actuator commands. The available degrees of freedom are used to execute the desired vehicle motion while minimizing the utilization of the tyre's grip potential. This is done by sampled constrained least-squares optimization of the linearized problem. For compensation of model errors and external disturbances, high gain feedback is applied by means of an Inverse Disturbance Observer. The presented method is applied on a comparison of eight vehicles with different conguration of actuators for steer, drive, brake and load distribution. The approach shows a transparent and effective way to deal with the complex issue of GCC in a unitized way. It gives both a base for controller design and a structured way to compare different configurations. In practice, the transparency supports automatic on-board reconfiguration in case of actuator hardware failure.
| Item URL in elib: | https://elib.dlr.de/44063/ | |||||||||
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| Document Type: | Conference or Workshop Item (Speech, Paper) | |||||||||
| Title: | Global Chassis Control Based on Inverse Vehicle Dynamics Models | |||||||||
| Authors: |
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| Date: | 2005 | |||||||||
| Journal or Publication Title: | Supplement to Vehicle System Dynamics | |||||||||
| Refereed publication: | Yes | |||||||||
| Open Access: | Yes | |||||||||
| Gold Open Access: | No | |||||||||
| In SCOPUS: | No | |||||||||
| In ISI Web of Science: | Yes | |||||||||
| Status: | Published | |||||||||
| Keywords: | Global Chassis Control | |||||||||
| Event Title: | 19th IAVSD Symposium | |||||||||
| Event Location: | Milan (Italy) | |||||||||
| Event Type: | international Conference | |||||||||
| Event Dates: | 2005-08-29 - 2005-09-02 | |||||||||
| Organizer: | Politecnico die Milano | |||||||||
| 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 (until 2012) > System Dynamics and Control (former Control Design Engineering) | |||||||||
| Deposited By: | Klauer, Monika | |||||||||
| Deposited On: | 15 Oct 2008 | |||||||||
| Last Modified: | 31 Jul 2019 19:17 |
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