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RISS 인기검색어
- 검색키워드
- 저자 : Patrick Gruber (검색결과 3 건)
- 무료
- 기관 내 무료
- 유료
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ON THE EXPERIMENTAL ANALYSIS OF SINGLE INPUT SINGLE OUTPUT CONTROL OF YAW RATE AND SIDESLIP ANGLE
Basilio Lenzo,Aldo Sorniotti,Patrick Gruber,Koen Sannen 한국자동차공학회 2017 International journal of automotive technology Vol.18 No.5
Electric vehicles with individually controlled drivetrains allow torque-vectoring, which improves vehicle safety and drivability. This paper investigates a new approach to the concurrent control of yaw rate and sideslip angle. The proposed controller is a simple single input single output (SISO) yaw rate controller, in which the reference yaw rate depends on the vehicle handling requirements, and the actual sideslip angle. The sideslip contribution enhances safety, as it provides a corrective action in critical situations, e.g., in case of oversteer during extreme cornering on a low friction surface. The proposed controller is experimentally assessed on an electric vehicle demonstrator along two maneuvers on surfaces with significantly varying tire-road friction coefficient. Different longitudinal locations of the sideslip angle used as control variable are compared during the experiments. Results show that: i) the proposed SISO approach provides significant improvements with respect to the vehicle without torque-vectoring, and the controlled vehicle with a reference yaw rate solely based on the handling requirements for high-friction maneuvering; and ii) the control of the rear axle sideslip angle provides better performance than the control of the sideslip angle at the center of gravity.
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Antonio Tota,Basilio Lenzo,Qian Lu,Aldo Sorniotti,Patrick Gruber,Saber Fallah,Mauro Velardocchia,Enrico Galvagno,Jasper De Smet 한국자동차공학회 2018 International journal of automotive technology Vol.19 No.5
With the advent of electric vehicles with multiple motors, the steady-state and transient cornering responses can be designed and implemented through the continuous torque control of the individual wheels, i.e., torque-vectoring or direct yaw moment control. The literature includes several papers on sliding mode control theory for torque-vectoring, but the experimental investigation is so far limited. More importantly, to the knowledge of the authors, the experimental comparison of direct yaw moment control based on sliding modes and typical controllers used for stability control in production vehicles is missing. This paper aims to reduce this gap by presenting and analyzing an integral sliding mode controller for concurrent yaw rate and sideslip control. A new driving mode, the Enhanced Sport mode, is proposed, inducing sustained high values of sideslip angle, which can be limited to a specified threshold. The system is experimentally assessed on a four-wheel-drive electric vehicle. The performance of the integral sliding mode controller is compared with that of a linear quadratic regulator during step steer tests. The results show that the integral sliding mode controller significantly enhances the tracking performance and yaw damping compared to the more conventional linear quadratic regulator based on an augmented singletrack vehicle model formulation.
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VEHICLE STABILITY CONTROL THROUGH PRE-EMPTIVE BRAKING
Guastadisegni Giuseppe,So Kai Man,Parra Alberto,Tavernini Davide,Montanaro Umberto,Gruber Patrick,Soria Leonardo,Mantriota Giacomo,Sorniotti Aldo 한국자동차공학회 2023 International journal of automotive technology Vol.24 No.2
Next-generation accurate vehicle localization and connectivity technologies will enable significant improvements in vehicle dynamics control. This study proposes a novel control function, referred to as pre-emptive braking, which imposes a braking action if the current vehicle speed is deemed safety-critical with respect to the curvature of the expected path ahead. Differently from the implementations in the literature, the pre-emptive braking input is designed to: a) enhance the safety of the transient vehicle response without compromising the capability of reaching the cornering limit, which is a significant limitation of the algorithms proposed so far; and b) allow – in its most advanced implementation – to precisely constrain the sideslip angle to set levels only through the pre-emptive control of the longitudinal vehicle dynamics, without the application of any direct yaw moment, typical of conventional stability control systems. To this purpose, a real-time-capable nonlinear model predictive control (NMPC) formulation based on a double track vehicle prediction model is presented, and implemented in its implicit form, which is applicable to both human-driven and automated vehicles, and acts as an additional safety function to compensate for human or virtual driver errors in extreme conditions. Its performance is compared with that of: i) two simpler – yet innovative with respect to the state-of-the-art – pre-emptive braking controllers, namely an NMPC implementation based on a dynamic point mass vehicle model, and a pre-emptive rule-based controller; and ii) a benchmarking non-pre-emptive rule-based trail braking controller. The benefits of pre-emptive braking are evaluated through vehicle dynamics simulations with an experimentally validated vehicle model, as well as a proof-of-concept implementation on an automated electric vehicle prototype.
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