期刊
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
卷 58, 期 2, 页码 555-571出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2008.925312
关键词
Hardware-in-the-loop simulation; model regulator; robust control; yaw stability control
资金
- European Commission [INCO-16426]
- Turkish State Planning Organization
Unsymmetrical loading on a car like p-split braking, side wind forces, or unilateral loss of tire pressure results in unexpected yaw disturbances that require yaw stabilization either by the driver or by an automatic driver-assist system. The use of two-degrees-of-freedom, control architecture known as the model regulator is investigated here as a robust steering controller for such yaw stabilization tasks in a driver-assist system. The yaw stability-enhancing steering controller is designed in the parameter space to satisfy a frequency-domain mixed sensitivity constraint. To evaluate the resulting controller design, a real-time hardware-in-the-loop simulator is developed. Steering tests with and without the controller in this hardware-in-the-loop setup allow the driver to see the effect of the proposed controller to improve vehicle-handling quality. The hardware-in-the-loop simulation setup can also be used for real-time driver-in-the-loop simulation of other vehicle control systems.
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